Quadrotor trajectory tracking using PID cascade control
Quadrotors have been applied to collect information for traffic, weather monitoring, surveillance and aerial photography. In order to accomplish their mission, quadrotors have to follow specific trajectories. This paper presents proportional–integral–derivative (PID) cascade control of a quadroto...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
Institute of Physics Publishing
2017
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/62296/ http://irep.iium.edu.my/62296/ http://irep.iium.edu.my/62296/ http://irep.iium.edu.my/62296/7/62296-Quadrotor%20trajectory%20tracking%20using%20PID%20cascade%20control.pdf http://irep.iium.edu.my/62296/8/62296-Quadrotor%20trajectory%20tracking%20using%20PID%20cascade%20control-SCOPUS.pdf |
| Summary: | Quadrotors have been applied to collect information for traffic, weather monitoring,
surveillance and aerial photography. In order to accomplish their mission, quadrotors have to
follow specific trajectories. This paper presents proportional–integral–derivative (PID) cascade
control of a quadrotor for path tracking problem when velocity and acceleration are small. It is
based on near hover controller for small attitude angles. The integral of time-weighted absolute
error (ITAE) criterion is used to determine the PID gains as a function of quadrotor modeling
parameters. The controller is evaluated in three-dimensional environment in Simulink. Overall,
the tracking performance is found to be excellent for small velocity condition |
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