Title :
Experimental studies of a disturbance observer for attitude control of a quad-rotor system
Author :
Jeong, Seung-Ho ; Jung, Seul
Author_Institution :
Dept. of Mechatron. Eng., Chungnam Nat. Univ., Daejeon, South Korea
Abstract :
This paper presents a simple design of a disturbance observer (DOB) for a quad-rotor system. To achieve robust attitude control of a quad-rotor system against disturbance, DOB is employed. Based on the conventional DOB structure, a proposal of simple modification allows an efficiency of calculation for estimating the disturbance term. The proposed DOB does not require the delayed calculation so that efforts of designing Q filter can be minimized. The effectiveness of the proposed DOB is evaluated through experimental studies of attitude control of a quad-rotor system.
Keywords :
aircraft control; attitude control; control system synthesis; helicopters; observers; robust control; rotors; DOB design; Q filter design; disturbance observer; disturbance observer design; quad-rotor system; robust attitude control; Acceleration; Attitude control; Observers; PD control; Rotors; Sensors; Disturbance observer (DOB); calculation efficiency; quad-rotor system;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2012 12th International Conference on
Conference_Location :
JeJu Island
Print_ISBN :
978-1-4673-2247-8
