Byung-Yoon Lee, Dong-Wan Yoo and Min-Jea Tahk
International Journal of Aeronautical and Space Sicences, vol. 14, no. 1, pp.58-66, 2013

Abstract : This paper addresses the performance of three different types of attitude control systems for the Quad-rotor UAV to perform the flip maneuver. For this purpose, Quad-rotor UAV’s 6-DOF dynamic model is derived, and it was used for designing an attitude controller of the Quad-rotor UAV. Attitude controllers are designed by three different methods. One is the open-loop control system design, another is the PD control system design, and the last method is the sliding mode control system design. Performances of all controllers are tested by 6-DOF simulation. In case of the open-loop control system, control inputs are calculated by the quad-rotor dynamic model and thrust system model that are identified by the thrust test. The 6-DOF realtime simulation environment was constructed in order to verify the performances of attitude controllers.

Keyword : Quad-Rotor UAV, Flip Maneuver, Open-loop control, 6-DOF Real-time Simulation