Title :
Control of an octa-copter from modeling to experiments
Author :
Hyeonbeom Lee ; Suseong Kim ; Hyon Lim ; Kim, H.J. ; Daewon Lee
Abstract :
This paper presents modeling and stabilization of an octa-copter which can carry heavier payload than a quadrotor. We explain the method for obtaining desired motor speed of the octa-copter using a simple assumption. By employing adaptive sliding mode control, the uncertainty for the octa-rotor such as modeling error and unknown ground effects is resolved. Experimental results from hovering flight tests are validated using the flight tests with vicon system.
Keywords :
adaptive control; aircraft control; autonomous aerial vehicles; helicopters; mobile robots; position control; robot dynamics; stability; uncertain systems; variable structure systems; adaptive sliding mode control; hovering flight test; modeling error; motor speed; octa-copter control; octa-copter modeling; octa-copter stabilization; octa-rotor uncertainty; quadrotor; unknown ground effects; vicon system; Clocks; Robots; TV; Vectors; Octa-rotor; UAVs; heavy lifting UAVs; quadrotor; sliding mode control;
Conference_Titel :
Robotics (ISR), 2013 44th International Symposium on
Conference_Location :
Seoul
DOI :
10.1109/ISR.2013.6695646
