Publication result detail

Attitude Control of Multicopter

BARÁNEK, R.; ŠOLC, F.

Original Title

Attitude Control of Multicopter

English Title

Attitude Control of Multicopter

Type

Peer-reviewed article not indexed in WoS or Scopus

Original Abstract

This article deals with the problem of attitude control of multicopters. At first the basic properties of multicopters are described. Regarding the attitude control, representation of attitude and computation of errors using rotation matrices are mentioned. Since the dynamics of rotation motion of multicopter around each axis is similar and almost independent to each other, the attitude control is split to three independent control loops. Then the construction of simplified model of multicopter with one degree of rotation freedom is described. Also the dynamics of thrusts of propellers are taken into account in the model. Finally one of the possible controller designs is described and for reference the results of controller with parameters tuned using MATLAB tool are shown.

English abstract

This article deals with the problem of attitude control of multicopters. At first the basic properties of multicopters are described. Regarding the attitude control, representation of attitude and computation of errors using rotation matrices are mentioned. Since the dynamics of rotation motion of multicopter around each axis is similar and almost independent to each other, the attitude control is split to three independent control loops. Then the construction of simplified model of multicopter with one degree of rotation freedom is described. Also the dynamics of thrusts of propellers are taken into account in the model. Finally one of the possible controller designs is described and for reference the results of controller with parameters tuned using MATLAB tool are shown.

Keywords

multicopter, PID controller, design, attitude, MATLAB

Key words in English

multicopter, PID controller, design, attitude, MATLAB

Authors

BARÁNEK, R.; ŠOLC, F.

RIV year

2013

Released

12.10.2012

ISBN

1802-4564

Periodical

ElectroScope - http://www.electroscope.zcu.cz

Volume

2012

Number

5

State

Czech Republic

Pages from

1

Pages to

5

Pages count

5

BibTex

@article{BUT95590,
  author="Radek {Baránek} and František {Šolc}",
  title="Attitude Control of Multicopter",
  journal="ElectroScope - http://www.electroscope.zcu.cz",
  year="2012",
  volume="2012",
  number="5",
  pages="1--5",
  issn="1802-4564"
}