Quadrotor trajectory tracking using PID cascade control

AEROS Conference 2017

Idres, M.^1 ; Mustapha, O.^1 ; Okasha, M.^1

Department of Mechanical Engineering, International Islamic University Malaysia, Jalan Gombak, Kuala Lumpur, 53100, Malaysia^1

关键词: Cascade control;    Model parameters;    Path tracking problem;    Proportional integral derivatives;    Three-dimensional environment;    Tracking performance;    Trajectory tracking;    Weather monitoring;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/270/1/012010/pdf
DOI  :  10.1088/1757-899X/270/1/012010

来源: IOP

【 摘 要 】

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.