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Abstract
A principal aspect of quadrocopter in-flight operation is to maintain the required attitude of the craft’s frame, which is done either automatically in the so-called supervised flight mode or manually during man-operated flight mode. This paper deals with the problem of flight controller (logical) structure and algorithm design dedicated for the man-operated flight mode. The role of the controller is to stabilise the rotational speeds of the Tait-Bryan angles. This work aims to extend the sustainable performance operating range of a proportional-integral-derivative output feedback compensator (PID) based flight controller by exploiting the concepts of feedforward inverse actuator model and the re-definition of input space in order to handle the non-linearity of the system under control. The proposed solution is verified numerically and implemented in the form of a discrete-time domain algorithm, obtained by emulation, using a physical quadrocopter model.
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- Accepted or Published Version
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- Copyright (2019 Springer Nature Switzerland AG)
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- Category:
- Articles
- Type:
- artykuły w czasopismach
- Published in:
-
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
no. 17,
pages 1 - 9,
ISSN: 1598-6446 - Language:
- English
- Publication year:
- 2019
- Bibliographic description:
- Zubowicz T., Armiński K., Kusalewicz A.: Quadrotor Flight Controller Design Using Classical Tools// INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS -Vol. 17,iss. X (2019), s.1-9
- DOI:
- Digital Object Identifier (open in new tab) 10.1007/s12555-018-0710-9
- Sources of funding:
-
- Polish MNiSW 8902/E-359/M/2017: Young Researcher Support Program
- Verified by:
- Gdańsk University of Technology
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