1A2-P01 A Study on Flight Trajectory Control of Quadrotor Helicopter : Evaluation of fundamental control performance by simulation(Aerial Robot and Mechatronics)
Ryuta Kashino, Masaki Izutsu, Norihiro Kamamichi, Jun Ishikawa · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2011
This article proposes a flight trajectory control system for quadrotor helicopters. Quadrotor helicopters have a symmetrical shape with four thrust rotors and have an advantage for control over general helicopters because of the simple structure. Based on a detailed physical model of a quadrotor helicopter, a hierarchal control architecture is proposed to achieve trajectory control for three degree-of-freedom (DOF) of position and the yaw angle (1DOF) using independent four thrust forces. Simulation to evaluate flight trajectory control performance was conducted and the results showed the validity of the proposed method. Future work will be to make an experimental system and to evaluate the proposed control system by experiment.