A Nonlinear Attitude Controller for Drones with CMG (Control Momentum Gyro)

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This paper aims to propose a nonlinear attitude controller for a drone system controlled by the control momentum gyros (CMGs). The dynamic modeling and the control mechanism of the considering system are first investigated. After that, based on the assumption of the timescale separation, the proposed controller is designed using the feedback linearization methodology. To make the resultant controller follow the three-loop structure, specific forms of the desired error dynamics are utilized in the design step. The characteristics of the proposed method are investigated through numerical simulations. The results show that the proposed controller can provide a good tracking performance against model uncertainties as well as model nonlinearities.
Publisher
IEEE Robotics and Automation Society
Issue Date
2019-11-25
Language
English
Citation

2019 International Workshop on Research, Education and Development on Unmanned Aerial Systems (RED-UAS 2019)

URI
http://hdl.handle.net/10203/271114
Appears in Collection
AE-Conference Papers(학술회의논문)
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