TY - GEN
T1 - Modeling and altitude control of quad-rotor UAV
AU - Lee, Keun Uk
AU - Yun, Young Hun
AU - Chang, Wook
AU - Park, Jin Bae
AU - Choi, Yoon Ho
PY - 2011
Y1 - 2011
N2 - This paper deals with the modeling and altitude control of a quad-rotor unmanned aerial vehicles (UAVs). First, we derive a quad-rotor model using Euler-Lagrange equations and perform experiment to identify model parameter. Second, we design the altitude controller of a quad-rotor based on dynamic surface control (DSC) method. From the Lyapunov stability theory, we prove that all signals of a quad-rotor system are uniformly ultimately bounded(UUB). Finally, we present the simulation and experimental results to verify the effectiveness of the proposed control method.
AB - This paper deals with the modeling and altitude control of a quad-rotor unmanned aerial vehicles (UAVs). First, we derive a quad-rotor model using Euler-Lagrange equations and perform experiment to identify model parameter. Second, we design the altitude controller of a quad-rotor based on dynamic surface control (DSC) method. From the Lyapunov stability theory, we prove that all signals of a quad-rotor system are uniformly ultimately bounded(UUB). Finally, we present the simulation and experimental results to verify the effectiveness of the proposed control method.
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M3 - Conference contribution
AN - SCOPUS:84863043093
SN - 9781457708350
T3 - International Conference on Control, Automation and Systems
SP - 1897
EP - 1902
BT - ICCAS 2011 - 2011 11th International Conference on Control, Automation and Systems
T2 - 2011 11th International Conference on Control, Automation and Systems, ICCAS 2011
Y2 - 26 October 2011 through 29 October 2011
ER -