Attitude Control of Drone by Using CMG（Control Moment Gyro）

Abstract

The drones are used for many purposes such as structure inspections, pesticide sprayings, photographies, load carriages and investigations in the world. The drones have a week point that it is difficult to fly them in the strong wind. However, it is an important task to fly in the strong wind for the disaster relieves. We have already developed the non-linear controller using a back-stepping method for the attitude control system of the drone. In this paper, we report the modeling of the drone and that using two gyro actuators and that the experiments of the drone with the gyro actuator show good performances.