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Hybrid Fly-by-Wire Quadrotor Controller

Matko Orsag ; Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia
Marina Poropat ; Tehnozavod Marušić d.o.o., Zagreb, Croatia
Stjepan Bogdan ; Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia

Puni tekst: engleski, pdf (663 KB) str. 19-32 preuzimanja: 3.530* citiraj
APA 6th Edition
Orsag, M., Poropat, M. i Bogdan, S. (2010). Hybrid Fly-by-Wire Quadrotor Controller. Automatika, 51 (1), 19-32. Preuzeto s
MLA 8th Edition
Orsag, Matko, et al. "Hybrid Fly-by-Wire Quadrotor Controller." Automatika, vol. 51, br. 1, 2010, str. 19-32. Citirano 25.06.2019.
Chicago 17th Edition
Orsag, Matko, Marina Poropat i Stjepan Bogdan. "Hybrid Fly-by-Wire Quadrotor Controller." Automatika 51, br. 1 (2010): 19-32.
Orsag, M., Poropat, M., i Bogdan, S. (2010). 'Hybrid Fly-by-Wire Quadrotor Controller', Automatika, 51(1), str. 19-32. Preuzeto s: (Datum pristupa: 25.06.2019.)
Orsag M, Poropat M, Bogdan S. Hybrid Fly-by-Wire Quadrotor Controller. Automatika [Internet]. 2010 [pristupljeno 25.06.2019.];51(1):19-32. Dostupno na:
M. Orsag, M. Poropat i S. Bogdan, "Hybrid Fly-by-Wire Quadrotor Controller", Automatika, vol.51, br. 1, str. 19-32, 2010. [Online]. Dostupno na: [Citirano: 25.06.2019.]

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



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