Design, modeling and hovering control of a spherical MAV using a non-linear controller based on nested saturations
- Resource Type
- Authors
- Sangdeok Park; Sang-ki Ji; Kyeonghoon Baik; Jinok Shin; Sehwa Hong
- Source
- 2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI).
- Subject
- Engineering
business.industry
Motion control
System dynamics
Computer Science::Robotics
Vehicle dynamics
Nonlinear system
Control theory
Nonlinear model
Design modeling
business
MATLAB
computer
Simulation
computer.programming_language
- Language
In this paper we present a spherical type MAV(micro aerial vehicle) which is characterized by a structure to allow VTOL(vertical take-off and landing) and a balancing motion like a roly-poly after unstable landing. After deriving a nonlinear model capable to describe the system dynamics which is modularized into primary five components that influence flight envelopes including slow flights and hovering, a simulator was formed using MATLAB. We designed a controller based on nested saturations for hovering and then present the simulation results.