Paper Info
Title
Accurate Modeling and Robust Hovering Control for a Quad---rotor VTOL Aircraft
Abstract
Quad-robot type (QRT) unmanned aerial vehicles (UAVs) have been developed for quick detection and observation of the circumstances under calamity environment such as indoor fire spots. The UAV is equipped with four propellers driven by each electricmotor, an embedded controller, an Inertial Navigation System (INS) using three rate gyros and accelerometers, a CCD (Charge Coupled Device) camera with wireless communication transmitter for observation, and an ultrasonic range sensor for height control. Accurate modeling and robust flight control of QRT UAVs are mainly discussed in this work. Rigorous dynamic model of a QRT UAV is obtained both in the reference and body frame coordinate systems. A disturbance observer (DOB) based controller using the derived dynamic models is also proposed for robust hovering control. The control input induced by DOB is helpful to use simple equations of motion satisfying accurately derived dynamics. The developed hovering robot shows stable flying performances under the adoption of DOB and the vision based localization method. Although a model is incorrect, DOB method can design a controller by regarding the inaccurate part of the model and sensor noises as disturbances. The UAV can also avoid obstacles using eight IR (Infrared) and four ultrasonic range sensors. This kind of micro UAV can be widely used in various calamity observation fields without danger of human beings under harmful environment. The experimental results show the performance of the proposed control algorithm.
Year
DOI
Venue
2010
10.1007/s10846-009-9369-z
Journal of Intelligent and Robotic Systems
Keywords
DocType
Volume
dynamic model,control input,robust hovering control,accurate modeling,ultrasonic range sensor,micro uav,proposed control algorithm,qrt uavs,dob method,height control,qrt uav,rotor vtol aircraft,robust flight control
Journal
57
Issue
ISSN
Citations 
1-4
1573-0409
21
PageRank 
References 
Authors
1.63
11
3
Name
Order
Citations
PageRank
Jinhyun Kim113020.62
Min-Sung Kang2264.73
Sangdeok Park36915.52