DocumentCode :
2570048
Title :
Robust position control of a tilt-wing quadrotor
Author :
Hancer, C. ; Oner, K.T. ; Sirimoglu, E. ; Cetinsoy, E. ; Unel, M.
Author_Institution :
Sabanci Univ., Istanbul, Turkey
fYear :
2010
fDate :
15-17 Dec. 2010
Firstpage :
4908
Lastpage :
4913
Abstract :
This paper presents a robust position controller for a tilt-wing quadrotor to track desired trajectories under external wind and aerodynamic disturbances. Wind effects are modeled using Dryden model and are included in the dynamic model of the vehicle. Robust position control is achieved by introducing a disturbance observer which estimates the total disturbance acting on the system. In the design of the disturbance observer, the nonlinear terms which appear in the dynamics of the aerial vehicle are also treated as disturbances and included in the total disturbance. Utilization of the disturbance observer implies a linear model with nominal parameters. Since the resulting dynamics are linear, only PID type simple controllers are designed for position and attitude control. Simulations and experimental results show that the performance of the observer based position control system is quite satisfactory.
Keywords :
attitude control; helicopters; observers; position control; robust control; Dryden model; PID type simple controllers; attitude control; disturbance observer; robust position control; tilt-wing quadrotor; Aerodynamics; Equations; Mathematical model; Observers; Trajectory; Vehicle dynamics; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
ISSN :
0743-1546
Print_ISBN :
978-1-4244-7745-6
Type :
conf
DOI :
10.1109/CDC.2010.5717283
Filename :
5717283
Link To Document :
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