Title:	Attitude control of multicopter
Authors:	Šolc, František Baránek, Radek
Citation:	Electroscope. 2012, č. 5, EEICT 2012.
Issue Date:	2012
Publisher:	Západočeská univerzita v Plzni, Fakulta elektrotechnická
Document type:	článek konferenční příspěvek article conferenceObject
URI:	http://147.228.94.30/images/PDF/Rocnik2012/Cislo5_2012/r6c5c1.pdf http://hdl.handle.net/11025/712
ISSN:	1802-4564
Keywords:	multikoptéra;řízení orientace;PID kontroléry
Keywords in different language:	multricopter;attitude control;PID controllers
Abstract in different language:	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.
Rights:	© 2012 Electroscope. All rights reserved.
Appears in Collections:	Číslo 5 - EEICT 2012 (2012) Číslo 5 - EEICT 2012 (2012)

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