Attitude and Altitude Control Design and Implementation of Quadrotor Using NI myRIO
Multi-rotor vehicles have demonstrated great potential in many applications, from goods delivery to military service. Its simple structure has drawn much attention in control research, with various feedback control design methods being tested on it. In this study, a quadrotor is constructed with Nat...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-03-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/12/7/1526 |
| _version_ | 1797608105848078336 |
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| author | Jun-Yao Hong Po-Jui Chiu Chun-Da Pong Chen-Yang Lan |
| author_facet | Jun-Yao Hong Po-Jui Chiu Chun-Da Pong Chen-Yang Lan |
| author_sort | Jun-Yao Hong |
| collection | DOAJ |
| description | Multi-rotor vehicles have demonstrated great potential in many applications, from goods delivery to military service. Its simple structure has drawn much attention in control research, with various feedback control design methods being tested on it. In this study, a quadrotor is constructed with National Instrument (NI) myRIO for its flight controller. Linear controllers are synthesized with a simple model and with a more detailed model, which also considers the actuator dynamic and system time delay, to exploit the limitations and trade-offs posted by hardware and its influence on linear control design and implementation. The simulation results match the real response better if the detailed model is used in the control design. In addition, the linear–quadratic–Gaussian (LQG) control provides the best response in the control design in this study. The constraints posted by the actuator and time delay are clearly observed in the control synthesis process and the experiment result. These constraints also led to poor control performance or even instability if not considered in the control implementation in advance. |
| first_indexed | 2024-03-11T05:40:02Z |
| format | Article |
| id | doaj.art-984b38fd56c24102b103a1da29811102 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-11T05:40:02Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-984b38fd56c24102b103a1da298111022023-11-17T16:31:51ZengMDPI AGElectronics2079-92922023-03-01127152610.3390/electronics12071526Attitude and Altitude Control Design and Implementation of Quadrotor Using NI myRIOJun-Yao Hong0Po-Jui Chiu1Chun-Da Pong2Chen-Yang Lan3Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 10607, TaiwanDepartment of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 10607, TaiwanDepartment of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 10607, TaiwanDepartment of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 10607, TaiwanMulti-rotor vehicles have demonstrated great potential in many applications, from goods delivery to military service. Its simple structure has drawn much attention in control research, with various feedback control design methods being tested on it. In this study, a quadrotor is constructed with National Instrument (NI) myRIO for its flight controller. Linear controllers are synthesized with a simple model and with a more detailed model, which also considers the actuator dynamic and system time delay, to exploit the limitations and trade-offs posted by hardware and its influence on linear control design and implementation. The simulation results match the real response better if the detailed model is used in the control design. In addition, the linear–quadratic–Gaussian (LQG) control provides the best response in the control design in this study. The constraints posted by the actuator and time delay are clearly observed in the control synthesis process and the experiment result. These constraints also led to poor control performance or even instability if not considered in the control implementation in advance.https://www.mdpi.com/2079-9292/12/7/1526quadrotormodel identificationcompensatorLQG |
| spellingShingle | Jun-Yao Hong Po-Jui Chiu Chun-Da Pong Chen-Yang Lan Attitude and Altitude Control Design and Implementation of Quadrotor Using NI myRIO Electronics quadrotor model identification compensator LQG |
| title | Attitude and Altitude Control Design and Implementation of Quadrotor Using NI myRIO |
| title_full | Attitude and Altitude Control Design and Implementation of Quadrotor Using NI myRIO |
| title_fullStr | Attitude and Altitude Control Design and Implementation of Quadrotor Using NI myRIO |
| title_full_unstemmed | Attitude and Altitude Control Design and Implementation of Quadrotor Using NI myRIO |
| title_short | Attitude and Altitude Control Design and Implementation of Quadrotor Using NI myRIO |
| title_sort | attitude and altitude control design and implementation of quadrotor using ni myrio |
| topic | quadrotor model identification compensator LQG |
| url | https://www.mdpi.com/2079-9292/12/7/1526 |
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