Modeling of a Quadcopter Trajectory Tracking System Using PID Controller

被引：40

作者：

Abdelhay, Sabir ^{[1
]}

Zakriti, Alia ^{[1
]}

机构：

[1] Natl Sch Appl Sci, Mhanech 2 BP 2222, Tetouan 93000, Morocco

来源：

12TH INTERNATIONAL CONFERENCE INTERDISCIPLINARITY IN ENGINEERING (INTER-ENG 2018) | 2019年 / 32卷

关键词：

UAV; Quadcopter; Newton-Euler method; Cascaded PID controller;

D O I：

10.1016/j.promfg.2019.02.253

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

A quadcopter is a type of Unmanned Aerial Vehicles (UAV) with four propellers and ability to take-off/landing in limited space. In the past few years, quadcopters have become an integral part of life. Therefore, in this paper, first, mathematical model of the quadcopter is created and it based on the equation of motion and forces of the moment using the Newton-Euler method. Secondly, a cascaded PID controller is designed to track the given trajectory. The chosen model is made to hover at an altitude where the nonlinear model is linearized. In addition to that, the response of the linear and nonlinear model is analyzed and the PID controller for the nonlinear model is designed and the results are analyzed. (C) 2019 The Authors. Published by Elsevier Ltd.

引用

页码：564 / 571

页数：8

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