Title :
Auto-tuning quadcopter using Loop Shaping
Author :
Tnunay, Hilton ; Abdurrohman, M. Qodar ; Nugroho, Yuliyanto ; Inovan, Reka ; Cahyadi, Adha ; Yamamoto, Yusaku
Author_Institution :
Dept. of Electr. Eng. & Inf. Technol., Gadjah Mada Univ., Yogyakarta, Indonesia
Abstract :
A novel PD Loop-Shaping strategy to achieve stable and robust Quadrotor control system is proposed in this paper. In order to be able to follow of the scenerio, the developed nonlinear model has to be linearized. By choosing the proper forward loop using loop shaping strategy, a PD auto-tuner is designed. The effectiveness of the scheme is then verified using numerical simulation.
Keywords :
PD control; adaptive control; autonomous aerial vehicles; control system synthesis; helicopters; matrix algebra; nonlinear control systems; robust control; PD autotuner design; PD loop-shaping strategy; autotuning quadcopter; forward loop; nonlinear model; numerical simulation; robust quadrotor control system; unmanned aerial vehicle; Angular velocity; Equations; Jacobian matrices; Mathematical model; PD control; Tuners; Auto-tuning; Loop-shaping; Proportional-Derivative Controller; Quadcopter; Recursive Least-Square;
Conference_Titel :
Computer, Control, Informatics and Its Applications (IC3INA), 2013 International Conference on
Conference_Location :
Jakarta
DOI :
10.1109/IC3INA.2013.6819157
