DocumentCode
261689
Title
Research and design on a control system for a disk-type flying robot with multiple rotors
Author
Yamamoto, Ichiro ; Rui Zhu ; Whidborne, James F. ; Marks, Aryeh
Author_Institution
Grad. Sch. of Eng., Nagasaki Univ., Nagasaki, Japan
fYear
2014
fDate
9-11 July 2014
Firstpage
337
Lastpage
342
Abstract
This paper describes the development of a disk-type flying robot with multiple rotors for use as an aerial observation platform. Models for the system are presented. A control system based on the optimal linear quadratic regulator is proposed. The controller is tested on the simulation model and shown to provide tracking of the reference trajectory and robustness against environmental disturbances.
Keywords
aerospace robotics; control system synthesis; linear quadratic control; rotors (mechanical); trajectory control; aerial observation platform; control system design; disk-type flying robot; optimal linear quadratic regulator; reference trajectory tracking; rotors; Atmospheric modeling; Control systems; Eigenvalues and eigenfunctions; Robot kinematics; Rotors; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Control (CONTROL), 2014 UKACC International Conference on
Conference_Location
Loughborough
Type
conf
DOI
10.1109/CONTROL.2014.6915163
Filename
6915163
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