The work is a contribution to stable attitudes controlling and accurate position tracking of the small scale quad-copter. Based on the rigid body theory, the kinematics and dynamics of the quad-copter are derived. The flying quad-copter has four input control voltages and three attitude angles and three translation movements, which can be treated as an under-actuated system. With some states controlling the other states, the under-actuated system can be fully controlled. The hierarchical synthesis control algorithm is designed to fulfil this function. The compensated proportional derivative (PD) control algorithm and the invert dynamics algorithm are used as the kernel of the controller in this hierarchy control structure. The simulation and experiment show that the control method can control the quad-copter stably. In contrast with hierarchical uncompensated PD controller, the accuracy of the experiment results with the compensated controller has greatly been improved.
Development of the model and hierarchy controller of the quad-copter
2008-01-01
12 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Development of the model and hierarchy controller of the quad-copter
Online Contents | 2008
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