Title :
Modeling and PID cascade control of a Quadcopter for trajectory tracking
Author :
Ernesto A. Paiva;Juan C. Soto;Julio A. Salinas;William Ipanaqu?
Author_Institution :
Laboratory of Automatic Control Systems, Universidad de Piura
Abstract :
This paper presents the mathematical model of a quadricopter under the Newton-Euler formulation. A Transfer function has been chosen, which represents a brushless motor and its driver as one system. PID cascade control had been designed to solve the path tracking problem for a quadcopter. The controller is evaluated in a 3D environment in Simulink.
Keywords :
"Brushless motors","Rotors","Mathematical model","Visualization","Software packages","Servomotors"
Conference_Titel :
Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON), 2015 CHILEAN Conference on
DOI :
10.1109/Chilecon.2015.7404665
