Robust PID Control of the Quadrotor Helicopter
نویسندگان
چکیده
منابع مشابه
Robust adaptive control of a quadrotor helicopter
This work presents a direct approximate-adaptive control, using CMAC nonlinear approximators, for an experimental prototype quadrotor helicopter. The method updates adaptive parameters, the CMAC weights, as to achieve both adaptation to unknown payloads and robustness to disturbances. Previously proposed weight-update methods, such as e-modification, provide robustness by simply limiting weight...
متن کاملEvent-Based PID Control: Application to a Mini Quadrotor Helicopter
Although periodicity simplifies design and analysis in control theory, it is no more adapted for embedded systems because it results in a conservative usage of resources. Indeed, the control signal is computed and updated at the same rate regardless whether is really required or not. On the other hand, event-driven sampling calls for resources whenever they are indeed necessary. Event-based PID...
متن کاملRobust Control of a Quadrotor
In this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. The designed controller includes two parts: a position controller and an attitude controller. The attitude controller is designed by using the sliding mode control (SMC) method to track the desired pitch and roll angles, which are the output of position controll...
متن کاملQuadrotor Helicopter Trajectory Tracking Control
The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC), a fleet of quadrotor helicopters, has been developed as a testbed for novel algorithms that enable autonomous operation of aerial vehicles. This paper develops an autonomous vehicle trajectory tracking algorithm through cluttered environments for the STARMAC platform. A system relying on a single optimization must ...
متن کاملrobust control of a quadrotor
in this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. the designed controller includes two parts: a position controller and an attitude controller. the attitude controller is designed by using the sliding mode control (smc) method to track the desired pitch and roll angles, which are the output of position controll...
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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2012
ISSN: 1474-6670
DOI: 10.3182/20120328-3-it-3014.00039