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Linear Quadrotor Modelling and Attitude Controller Design Based On Experimental Data
Khoi Nguyen Dang,Gigun Lee,Taesam Kang 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
This paper presents a method to model and optimize controller design for quadrotor system. The linearized quadrotor model is derived from system identification method which is based on collected experimental data. After obtaining quadrotor model, the project moves on to design an optimal controller. For that purpose of obtaining the optimal controller design, LQ Servo design, which is basically developed from LQR theory, is considered. The designed LQ Servo, then, is applied back to the quadrotor system to ensure getting the best performance and most suitable mathematical model of quadrotor system.
저속에서의 차량 데이터를 이용한 차량 모델링과 속도 제어기 설계
김정환(Jung-Hwan Kim),이기건(Gigun Lee),강태삼(Taesam Kang),지규인(Gyu-In Jee) 한국자동차공학회 2010 한국자동차공학회 학술대회 및 전시회 Vol.2010 No.11
This paper is including a contents about vehicle speed control. We designed control device for vehicle acceleration. We got the data of the vehicle which is driving. And we estimated model using PEM algorithm. We designed a PID controller and tested on actual vehicle.
강태삼(Taesam Kang),윤광준(Kwang Joon Yoon),하태현(Tae-Hyun Ha),이기건(Gigun Lee) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.1
This paper describes the design of a robust H-infinity attitude controller for a quad-rotor. The linear model of a quad-rotor was estimated using PEM (Prediction Error Minimization) method with experimental input and output data. To design an attitude controller, an extended plant was constructed by adjusting several uncertainties and weighting functions. An H-infinity controller was obtained by applying H-infinity methodology to the extended plant. Through frequency-domain analysis, it was shown that the designed controller can overcome uncertainties up to 75% of the plant model. The performance and robustness of the controller were verified through time-domain simulation.