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Design of Feedback Control for Quadrotors Considering Signal Transmission Delays
최원창,Stephen K. Armah,Sun Yi 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.6
For quadrotor types of unmanned aerial vehicles (UAVs), existence of transmission delays caused bywireless communication is one of the critical challenges. Estimation of the delays and analysis of their effectsare not straightforward for designing controllers. An estimation method is introduced using experimental data andanalytical solutions of delay differential equations (DDEs). Collected altitude responses in the time domain arecompared to the predicted ones obtained from the analytical solutions. The Lambert W function-based approachfor first-order DDEs is used for such analysis. The dominant characteristic roots among infinite number of rootsare obtained in terms of coefficients and the delay. The effects of the time delay on the responses are analysedthrough the locations of the characteristic roots in the complex plane. Based on the estimation result, proportionalplus velocity controllers are proposed to improve transient altitude responses.