Title :
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
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;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on
DOI :
10.1109/ROBIO.2014.7090583
