Digital controller for attitude control of a rotary-winged flying robot in hover

Author

Datta, S. ; Patkar, U.S. ; Majumder, S.

Author_Institution

Central Mech. Eng. Res. Inst., Durgapur, India

fYear

2009

fDate

5-8 July 2009

Firstpage

390

Lastpage

395

Abstract

This paper presents the design of digital controller for attitude control of a rotary-winged flying robot in hover. It describes the best digital implementation of continuous compensation from linear SISO controller to control the nonlinear dynamics of the aerial robot. Results with limits are given for attitude correction against reference attitudes, set for maintaining the hover. Experiments are carried out on Bergen Turbine Observer model, equipped with a NAV420CA INS and mounted on a test rig with bending flexibility in all axes.

Keywords

aerospace robotics; aircraft; attitude control; compensation; linear systems; nonlinear dynamical systems; observers; Bergen turbine observer model; NAV420CA INS; aerial robot; attitude control; attitude correction; bending flexibility; continuous compensation; digital controller design; hover; linear SISO controller; nonlinear dynamics control; reference attitudes; rotary-winged flying robot; test rig; Digital control; Equations; Helicopters; Inspection; Mobile robots; Nonlinear dynamical systems; Remotely operated vehicles; Testing; Turbines; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2009. ISIE 2009. IEEE International Symposium on

Conference_Location

Seoul

Print_ISBN

978-1-4244-4347-5

Electronic_ISBN

978-1-4244-4349-9

Type

conf

DOI

10.1109/ISIE.2009.5214727

Filename

5214727