쿼드로터의 자율비행 제어에 관한 연구

Abstract

In comparison with manless airplane with wings, the application range of Quadrotor is very great as the manless airplane because of the superior mobility such as Hovering. However, Quadrotor can control the location of flight vehicle with the speed control of 4 rotors, it has a weakness to be week for external disturbance such as wind, so it's not easy to control actual autonomous flight. This paper intends to realize autonomous flight control of Quadrotor which can endure disturbance. For it, Quadrotor's dynamic model including 4 rotors and IMU(Inertial Measurement Unit) is induced and based on it, PID controller is designed and its simulation and flight test are conducted. In addition, the optimal controller(LQ) is designed based on the linearized dynamic model induced before and the flight vehicle's states for the LQ controller are observed by the Kalman filter. And then, the autonomous flight control which is strong for modeling error and disturbance is realized.