Simulation and experimental study on attitude control of quadrotor

Author

Trirattanawananon, Nuttakorn ; Panomruttanarug, Benjamas ; Higuchi, Kohji ; Mora-Camino, Felix

Author_Institution

Dept. of Control Syst. & Instrum. Eng., King Mongkut´s Univ. of Technol. Thonburi, Bangkok, Thailand

fYear

2014

Firstpage

1719

Lastpage

1724

Abstract

This paper studies dynamic behavior of a quadrotor in both simulation and experiment when tracking desired attitude angles. The flight attitude control implemented in this research is designed based on a feedback control with an inner-loop structure as in the Aeroquad project. The feedback control configuration is applied to the dynamic model of a DIY qaudrotor UAV to simulate its attitude tracking behavior when tuning the PID gains based on a heuristic approach. The well-tuned PID controller is therefore applied to the experiment to validate the desired tracking response.

Keywords

attitude control; autonomous aerial vehicles; feedback; position control; robot dynamics; three-term control; Aeroquad project; DIY qaudrotor UAV; PID controller; PID gains; attitude angles; attitude tracking behavior; dynamic behavior; feedback control configuration; flight attitude control; heuristic approach; inner-loop structure; tracking response; unmanned aerial vehicles; Aerodynamics; Aerospace electronics; Attitude control; DC motors; Hardware; Mathematical model; Rotors;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on

Type

conf

DOI

10.1109/ROBIO.2014.7090583

Filename

7090583