TY - GEN
T1 - Development of control system for an unmanned single tilt tri-rotor aerial vehicle
AU - Rys, Andrzej
AU - Czyba, Roman
AU - Szafranski, Grzegorz
PY - 2014
Y1 - 2014
N2 - This paper outlines the mechanical design, hardware, measurement system and control system architecture with particular emphasis on the practical aspects of the control implementation for an unmanned aerial vehicle type trirotor. The main investigated area is the attitude control system. Various practical implementations of PID controller were studied, including algorithms with modified loop structures and cascade systems. Furthermore, an embedded microcontroller-based navigation and control system is proposed to provide efficient angular stabilization and stable hover during the different flight conditions. The design, analysis and the validation tests have been undertaken on the experimental aerial platform.
AB - This paper outlines the mechanical design, hardware, measurement system and control system architecture with particular emphasis on the practical aspects of the control implementation for an unmanned aerial vehicle type trirotor. The main investigated area is the attitude control system. Various practical implementations of PID controller were studied, including algorithms with modified loop structures and cascade systems. Furthermore, an embedded microcontroller-based navigation and control system is proposed to provide efficient angular stabilization and stable hover during the different flight conditions. The design, analysis and the validation tests have been undertaken on the experimental aerial platform.
UR - https://www.scopus.com/pages/publications/84904568022
U2 - 10.1109/ICUAS.2014.6842361
DO - 10.1109/ICUAS.2014.6842361
M3 - Conference contribution
AN - SCOPUS:84904568022
SN - 9781479923762
T3 - 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings
SP - 1091
EP - 1098
BT - 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings
PB - IEEE Computer Society
T2 - 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014
Y2 - 27 May 2014 through 30 May 2014
ER -