쿼드-로터 방식 비행체 개념 설계 및 제어기법 연구

This paper is concerned with design and control strategy for a quad-rotor UAV. The design process is divided into three stages: requirements establishment, conceptual design and detailed design. We present practical development methods for a miniature quad-rotor UAV based on the optimization of selecting elements from the propulsion groups. The quad-rotor UAV is modeled by 6-DOF nonlinear equations of motion and a backstepping control technique for the control system. The performance of the proposed method is evaluated through numerical simulations.