Paper Info
Title
Indoor Hovering Control of Small Ducted-fan Type OAV Using Ultrasonic Positioning System
Abstract
This study focused on a development of attitude stabilization and a position (hovering) control scheme of the SFR (Small Flying Robot). The platform type of the SFR is a ducted-fan type OAV having a diameter of 30 cm. The attitude of the SFR was successfully stabilized by a PD control method. In the attitude control loop, the feedback states were angle and angular rates, which were outputs from an AHRS (Attitude Heading Reference System). The position of the SFR was controlled precisely by the LQI (Linear Quadratic Integration) method with a Kalman filter. In the position control loop, an ultrasonic positioning system was used for the 3D position reference, which was developed in a previous research. The proposed simple mathematical model could analyze dynamics and stability of the SFR. Also, the stabilities of the attitude control and the precision of the position control were verified by comparing and analyzing data of experiments and simulations.
Year
DOI
Venue
2011
10.1007/s10846-010-9488-6
Journal of Intelligent and Robotic Systems
Keywords
DocType
Volume
Ducted-fan OAV,Small flying robot,Hovering control,Ultrasonic positioning system,Attitude control,Position control
Journal
61
Issue
ISSN
Citations 
1-4
0921-0296
2
PageRank 
References 
Authors
0.40
1
6
Name
Order
Citations
PageRank
Jinok Shin1276.03
Sanki Ji220.40
Woong Hee Shon3183.80
Hogil Lee4738.81
Kuk Cho582.95
Sangdeok Park66915.52