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BARÁNEK, R. ŠOLC, F.
Originální název
Attitude Control of Multicopter
Typ
článek v časopise - ostatní, Jost
Jazyk
angličtina
Originální abstrakt
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.
Klíčová slova
multicopter, PID controller, design, attitude, MATLAB
Autoři
BARÁNEK, R.; ŠOLC, F.
Rok RIV
2012
Vydáno
12. 10. 2012
ISSN
1802-4564
Periodikum
ElectroScope - http://www.electroscope.zcu.cz
Ročník
Číslo
5
Stát
Česká republika
Strany od
1
Strany do
Strany počet
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" }