| Title |
Attitude Control of Two Rotor 1 DOF Aerial Vehicle |
| Authors |
서영수(Suh Young Soo) ; 최영민(Choi Young Min) ; 노영식(Ro Young Shick) ; 강희준(Kang Hee Jun) |
| Keywords |
Attitude Estimation ; Attitude Control ; Complementary Filter ; PID Controller ; Aerial Vehicle |
| Abstract |
This paper is concerned with attitude control of 2 rotor 1 DOF aerial vehicle. The proposed controller consists of two parts: the attitude estimation filter part and PID controller part. For attitude estimation, performance of 3 different filters (complementary filters, Kalman filter, indirect Kalman filters) are tested and compared. For the PID controller, characteristic ratio assignment methods are used to assign PID coefficients. Through experiments, it is shown that attitude of the vehicle successfully follows the step command. |