NDLI: Rotary-Wing Flying Robot Attitude Controller for Hovering

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Rotary-Wing Flying Robot Attitude Controller for Hovering

Content Provider	ACM Digital Library
Author	Datta, Sarbari Majumder, M. C. Patkar, Umesh Majumder, S.
Abstract	This paper addresses the control of dynamic behavior of the rotary wing flying robot in hover, which is complex in shape and motion as nonlinear aerodynamic forces and gravity acts on the system. Due to limited accuracy of the dynamic model, the attitude dynamics is conditionally stable where a minimum amount of attitude feedback is required for system stability. To compensate for conditional stability, a controller for both roll and pitch dynamics is developed adopting cascade control loop feedback architecture where INS system feedback is used for outer control loop while the gyro feedback is adopted for the inner control loop to attain a high bandwidth, ensuring attitude stability with accelerated response required for a steady hover. The provided solution is tested on Hirobo Scheadu50 model and the system performance is analyzed during hover using the proposed controller. Through taut integration of simulation and flight-test validation, a controller is developed that is sufficiently accurate, quite effective and simple enough for handling complex and changing rotorcraft dynamics in hover.
Starting Page	1
Ending Page	6
Page Count	6
File Format	PDF
ISBN	9781450323475
DOI	10.1145/2506095.2506127
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2013-07-04
Publisher Place	New York
Access Restriction	Subscribed
Subject Keyword	Attitude control Hover Rotary-wing flying robot
Content Type	Text
Resource Type	Article

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