Title :
Research and design on a control system for a disk-type flying robot with multiple rotors
Author :
Yamamoto, Ichiro ; Rui Zhu ; Whidborne, James F. ; Marks, Aryeh
Author_Institution :
Grad. Sch. of Eng., Nagasaki Univ., Nagasaki, Japan
Abstract :
This paper describes the development of a disk-type flying robot with multiple rotors for use as an aerial observation platform. Models for the system are presented. A control system based on the optimal linear quadratic regulator is proposed. The controller is tested on the simulation model and shown to provide tracking of the reference trajectory and robustness against environmental disturbances.
Keywords :
aerospace robotics; control system synthesis; linear quadratic control; rotors (mechanical); trajectory control; aerial observation platform; control system design; disk-type flying robot; optimal linear quadratic regulator; reference trajectory tracking; rotors; Atmospheric modeling; Control systems; Eigenvalues and eigenfunctions; Robot kinematics; Rotors; Vehicles;
Conference_Titel :
Control (CONTROL), 2014 UKACC International Conference on
Conference_Location :
Loughborough
DOI :
10.1109/CONTROL.2014.6915163
