| Title |
Hovering control of quadrotor system using a selection algorithm for control gains and gain-scaling factors |
| Authors |
박지선(Ji-Sun Park?Sang-Young Oh?Ho-Lim Choi) ; 오상영() ; 최호림() |
| DOI |
https://doi.org/10.5370/KIEE.2020.69.12.1916 |
| Keywords |
Quadrotor system; Hovering control; Gain-scaling factor; Controller gain; Selection algorithm; Output feedback control |
| Abstract |
In this paper, we consider a hovering control problem for a quadrotor system under external disturbance by output feedback. We design a newly proposed output feedback controller with gain-scaling factors. With the proposed controller, we show the analysis of closed-loop system by using a Laplace transform technique. Moreover, we provide a selection algorithm for control gains and gain-scaling factors based on the system analysis to improve the system performance with respect to overshoot, ultimate bounds, and settling time of system states, respectively. The effectiveness of our control method for hovering control of quadrotor system is experimentally verified |