Title :
Hybrid control of quadrotor
Author :
Orsag, Matko ; Bogdan, Stjepan
Author_Institution :
Dept. of Control & Comput. Eng., Fac. of Electr. Eng. & Comput., Zagreb, Croatia
Abstract :
This paper presents the solution to a quadrotor control problem based on a discrete automaton that, in combination with classical PID controllers, creates a hybrid control system. Some modifications to the known and widely used mathematical model of quadrotor aircrafts are also discussed in this paper. The paper shows an open loop control concept that flies the aircraft into looping. Finally, the performance of the suggested control scheme is tested with simulations.
Keywords :
aircraft control; automata theory; helicopters; open loop systems; three-term control; PID controller; discrete automaton; open loop control concept; quadrotor aircraft control; rotorcraft; Aircraft; Automata; Automatic control; Control systems; Equations; Helicopters; Mathematical model; Open loop systems; Propulsion; Three-term control; Hybrid control; Rotorcraft; Unmanned aerial vehicle;
Conference_Titel :
Control and Automation, 2009. MED '09. 17th Mediterranean Conference on
Conference_Location :
Thessaloniki
Print_ISBN :
978-1-4244-4684-1
Electronic_ISBN :
978-1-4244-4685-8
DOI :
10.1109/MED.2009.5164716
