Design, Control, and Implementation of Small Quad-Rotor System Under Practical Limitation of Cost Effectiveness

Abstract

This article presents the design, control, and implementation of a small quad-rotor system under the practical limitation of being cost effective for private use, such as in the cases of control education or hobbies involving radio-controlled systems. Several practical problems associated with implementing a small quad-rotor system had to be taken into account to satisfy this cost constraint. First, the size was reduced to attain better maneuverability. Second, the main control hardware was limited to an 8-bit processor such as an AVR to reduce cost. Third, the algorithms related to the control and sensing tasks were optimized to be within the computational capabilities of the available processor within one sampling time. A small quad-rotor system was ultimately implemented after satisfying all of the above practical limitations. Experimental studies were conducted to confirm the control performance and the operational abilities of the system.

Altitude Control of a Quad-rotor System by Using a Time-delayed Control Method

“…그래서 신 경회로망이나 적응제어 등 많은 논문에서 자세제어에 대한 연구가 이루어져 왔다. 또한 외란에 대해 강건하도록 DOB 또는 시간 지연 제어등과 같은 강건 제어를 통한 자세제어 연구도 선행 연구로 진행되었다 [7][8][9][10][11][12][13][14]. 최근에는 영상을 이용 한 주행제어에 대한 연구도 활발하다 [15][16][17][18][19].…”

Design and implementation of a mini quadrotor control system in GPS denied environments

“…The most popular research platform in this category is Hummingbird quadrotor sold by Ascending Technologies [10], and the state-of-the-art quadrotor autonomous control theory is described in [9]. Thus, extensive research has been conducted on mini quadrotor development [11]- [14].…”

Constant Altitude Flight Control for Quadrotor UAVs with Dynamic Feedforward Compensation

“…Currently, researchers are primarily focused on the design of linear controllers, such as proportional-integral-differential (PID) controllers [5] and linear quadratic regulators (LQregulators) [6], and nonlinear control methods, which include sliding mode controllers [7], backstepping control approaches [8], adaptive controllers [9], and model predictive attitude controllers [10]. Several studies have investigated the design of controllers for quadrotor sta-bilization during hovering [11], whereas others are dedicated to controller design for trajectory tracking [12].…”