Stabilization Controller Design of Quadrotor Robot Under One Actuator Breakdown

被引：0
|
作者：
Kim, Hun Se [1 ]
Kim, Dong Hwan [2 ]
机构：
[1] Seoul Natl Univ Sci & Technol, Dept Mech Design & Robot Engn, Seoul, South Korea
[2] Seoul Natl Univ Sci & Technol, Dept Mech Syst Design Engn, Seoul, South Korea
来源：
2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE) | 2017年
关键词：
Quadrotor robot; Double PID Controller; Emergency Landing;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Quadrotor robots for indoor travel collide with walls and obstacles, and people around them may be dangerous. In this study, we describe attitude control and rigid control algorithm of quad rotor robot when propeller is broken. Basically, the quadrotor robot is controlled with a double PID algorithm. If one propeller is broken, the situation is recognized using the IMU sensor signal, and the robust control algorithm operates, yielding to circumventing the malfunction of the robot.
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页码：847 / 850
页数：4
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