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JRM Vol.30 No.3 pp. 380-389
doi: 10.20965/jrm.2018.p0380
(2018)

Paper:

Autonomous Flight Control of Quadrotor Helicopter by Simple Adaptive Control with Inner Loop PD Controller

Yasuaki Oda* and Makoto Kumon**

*Hirata Corporation
111 Hitotsugi, Ueki, Kita-ku, Kumamoto 861-0198, Japan

**Faculty of Advanced Science and Technology, Kumamoto University
2-39-1 Kurokami, Chuo-ku, Kumamoto 860-8555, Japan

Received:
December 11, 2017
Accepted:
April 27, 2018
Published:
June 20, 2018
Keywords:
quadrotor helicopter, flight control, simple adaptive control
Abstract
Autonomous Flight Control of Quadrotor Helicopter by Simple Adaptive Control with Inner Loop PD Controller

SAC augmented controller for QRH

The controller parameters of a quadrotor helicopter have to be properly adjusted for the helicopter to fly stably, while considering the helicopter’s dynamics. Typically, there exists uncertainty in helicopter dynamics such as parametric uncertainty and unmodeled dynamics including external disturbances. To cope with uncertainty in the dynamics, it is effective to update controller parameters according to the performance during the flight. This paper proposes the introduction of a simple adaptive control (SAC), which is an adaptive control technique to augment the conventional attitude controller based on the PD controller to attenuate the effect of uncertainty. The introduction of a constraint to the adaptive gain is also proposed to suppress overshoot in the transient response. In this study, it was demonstrated through numerical simulations and experiments that the proposed controller was effective and that its performance was better in comparison to the original PD controller.

Cite this article as:
Y. Oda and M. Kumon, “Autonomous Flight Control of Quadrotor Helicopter by Simple Adaptive Control with Inner Loop PD Controller,” J. Robot. Mechatron., Vol.30, No.3, pp. 380-389, 2018.
Data files:
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Last updated on Dec. 13, 2018