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Hybrid Fly-by-Wire Quadrotor Controller

Matko Orsag ; Zavod za automatiku i računalno inženjerstvo, Fakultet elektrotehnike i računarstva, Sveučilište u Zagrebu, Zagreb, Hrvatska
Marina Poropat ; Tehnozavod Marušić d.o.o., Zagreb, Croatia
Stjepan Bogdan ; Zavod za automatiku i računalno inženjerstvo, Fakultet elektrotehnike i računarstva, Sveučilište u Zagrebu, Zagreb, Hrvatska

Sažetak

This article presents one solution to a quadrotor control problem that is based on a discrete automaton. This automaton combines classical PID and more sophisticated LQ controllers to create a hybrid control system. This closed loop control concept is expanded with an open loop controller that enables the aircraft to perform aggressive flying maneuvers. The combination of open and closed loop controllers builds a hybrid controller concept that allows directed and autonomous flying of the quadrotor aerial vehicle. Proposed control concept was tested on an elaborate mathematical model. The article discusses these test results and presents the means to develop such a controller.

Ključne riječi

Hybrid control; Rotorcraft; Unmanned aerial vehicle

Hrčak ID:

51351

URI

https://hrcak.srce.hr/51351

Datum izdavanja:

22.3.2010.

Podaci na drugim jezicima: hrvatski

Posjeta: 5.509 *