DocumentCode
2543219
Title
Hybrid control of quadrotor
Author
Orsag, Matko ; Bogdan, Stjepan
Author_Institution
Dept. of Control & Comput. Eng., Fac. of Electr. Eng. & Comput., Zagreb, Croatia
fYear
2009
fDate
24-26 June 2009
Firstpage
1239
Lastpage
1244
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/MED.2009.5164716
Filename
5164716
Link To Document