dc.citation.endPage |
79 |
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dc.citation.number |
2 |
- |
dc.citation.startPage |
69 |
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dc.citation.title |
INTERNATIONAL JOURNAL OF AERONAUTICAL AND SPACE SCIENCES |
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dc.citation.volume |
11 |
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dc.contributor.author |
Oh, Hyondong |
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dc.contributor.author |
Won, Dae-Yeon |
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dc.contributor.author |
Huh, Sung-Sik |
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dc.contributor.author |
Shim, David Hyunchul |
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dc.contributor.author |
Tahk, Min-Jea |
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dc.date.accessioned |
2023-12-22T07:07:48Z |
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dc.date.available |
2023-12-22T07:07:48Z |
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dc.date.created |
2016-08-12 |
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dc.date.issued |
2010-06 |
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dc.description.abstract |
This paper describes the experimental framework for the control system design and validation of a rotorcraft unmanned aerial vehicle (UAV). Our approach follows the general procedure of nonlinear modeling, linear controller design, nonlinear simulation and flight test but uses an indoor-installed multi-camera system, which can provide full 6-degree of freedom (DOF) navigation information with high accuracy, to overcome the limitation of an outdoor flight experiment. In addition, a 3-DOF flying mill is used for the performance validation of the attitude control, which considers the characteristics of the multi-rotor type rotorcraft UAV. Our framework is applied to the design and mathematical modeling of the control system for a quad-rotor UAV, which was selected as the test-bed vehicle, and the controller design using the classical proportional-integral-derivative control method is explained. The experimental results showed that the proposed approach can be viewed as a successful tool in developing the controller of new rotorcraft UAVs with reduced cost and time. |
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dc.identifier.bibliographicCitation |
INTERNATIONAL JOURNAL OF AERONAUTICAL AND SPACE SCIENCES, v.11, no.2, pp.69 - 79 |
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dc.identifier.issn |
2093-274X |
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dc.identifier.uri |
https://scholarworks.unist.ac.kr/handle/201301/20222 |
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dc.identifier.url |
http://ijass.org/PublishedPaper/year_abstract.asp?idx=55 |
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dc.language |
영어 |
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dc.publisher |
KOREAN SOC AERONAUTICAL & SPACE SCIENCES |
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dc.title |
Experimental Framework for Controller Design of a Rotorcraft Unmanned Aerial Vehicle Using Multi-Camera System |
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dc.type |
Article |
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