Constant Altitude Flight Control for Quadrotor UAVs with Dynamic Feedforward Compensation
- Authors
- Anastasia Razinkova1; 강병준; 조현찬; 전홍태
- Issue Date
- 2014
- Publisher
- 한국지능시스템학회
- Keywords
- Altitude control; Feedforward compensation; Quadrotor; Unmanned aerial vehicle
- Citation
- International Journal of Fuzzy Logic and Intelligent systems, v.14, no.1, pp 26 - 33
- Pages
- 8
- Journal Title
- International Journal of Fuzzy Logic and Intelligent systems
- Volume
- 14
- Number
- 1
- Start Page
- 26
- End Page
- 33
- URI
- https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/13583
- ISSN
- 1598-2645
- Abstract
- This study addresses the control problem of an unmanned aerial vehicle (UAV) during the transition period when the flying mode changes from hovering to translational motion in the horizontal plane. First, we introduce a compensation algorithm that improves height stabilization and reduces altitude drop. The main principle is to incorporate pitch and roll measurements into the feed forward term of the altitude controller to provide a larger thrust force. To further improve altitude control, we propose the fuzzy logic controller that improves system behavior. Simulation results presented in the paper highlight the effectiveness of the proposed controllers.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - College of ICT Engineering > School of Electrical and Electronics Engineering > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.