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Description
  • This article deals with the problem of attitude control of multicopters. At first the basic properties of multicopters are described. Regarding the attitude control, representation of attitude and computation of errors using rotation matrices are mentioned. Since the dynamics of rotation motion of multicopter around each axis is similar and almost independent to each other, the attitude control is split to three independent control loops. Then the construction of simplified model of multicopter with one degree of rotation freedom is described. Also the dynamics of thrusts of propellers are taken into account in the model. Finally one of the possible controller designs is described and for reference the results of controller with parameters tuned using MATLAB tool are shown.
  • This article deals with the problem of attitude control of multicopters. At first the basic properties of multicopters are described. Regarding the attitude control, representation of attitude and computation of errors using rotation matrices are mentioned. Since the dynamics of rotation motion of multicopter around each axis is similar and almost independent to each other, the attitude control is split to three independent control loops. Then the construction of simplified model of multicopter with one degree of rotation freedom is described. Also the dynamics of thrusts of propellers are taken into account in the model. Finally one of the possible controller designs is described and for reference the results of controller with parameters tuned using MATLAB tool are shown. (en)
Title
  • Attitude Control of Multicopter
  • Attitude Control of Multicopter (en)
skos:prefLabel
  • Attitude Control of Multicopter
  • Attitude Control of Multicopter (en)
skos:notation
  • RIV/00216305:26220/12:PU100859!RIV13-MSM-26220___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • S
http://linked.open...iv/cisloPeriodika
  • 5
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 124044
http://linked.open...ai/riv/idVysledku
  • RIV/00216305:26220/12:PU100859
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • multicopter, PID controller, design, attitude, MATLAB (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...odStatuVydavatele
  • CZ - Česká republika
http://linked.open...ontrolniKodProRIV
  • [6F5E636CE18C]
http://linked.open...i/riv/nazevZdroje
  • ElectroScope - http://www.electroscope.zcu.cz
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...UplatneniVysledku
http://linked.open...v/svazekPeriodika
  • 2012
http://linked.open...iv/tvurceVysledku
  • Baránek, Radek
  • Šolc, František
issn
  • 1802-4564
number of pages
http://localhost/t...ganizacniJednotka
  • 26220
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