Title :
Digital controller for attitude control of a rotary-winged flying robot in hover
Author :
Datta, S. ; Patkar, U.S. ; Majumder, S.
Author_Institution :
Central Mech. Eng. Res. Inst., Durgapur, India
Abstract :
This paper presents the design of digital controller for attitude control of a rotary-winged flying robot in hover. It describes the best digital implementation of continuous compensation from linear SISO controller to control the nonlinear dynamics of the aerial robot. Results with limits are given for attitude correction against reference attitudes, set for maintaining the hover. Experiments are carried out on Bergen Turbine Observer model, equipped with a NAV420CA INS and mounted on a test rig with bending flexibility in all axes.
Keywords :
aerospace robotics; aircraft; attitude control; compensation; linear systems; nonlinear dynamical systems; observers; Bergen turbine observer model; NAV420CA INS; aerial robot; attitude control; attitude correction; bending flexibility; continuous compensation; digital controller design; hover; linear SISO controller; nonlinear dynamics control; reference attitudes; rotary-winged flying robot; test rig; Digital control; Equations; Helicopters; Inspection; Mobile robots; Nonlinear dynamical systems; Remotely operated vehicles; Testing; Turbines; Vehicle dynamics;
Conference_Titel :
Industrial Electronics, 2009. ISIE 2009. IEEE International Symposium on
Conference_Location :
Seoul
Print_ISBN :
978-1-4244-4347-5
Electronic_ISBN :
978-1-4244-4349-9
DOI :
10.1109/ISIE.2009.5214727
