Trajectory tracking of a quadrotor using TID controller

被引：0
|
作者：
Deveerasetty, Kranthi Kumar [1 ,2 ,3 ]
Zhou, Yimin [1 ,2 ,3 ]
Han, Bo [1 ,2 ,3 ]
机构：
[1] Chinese Acad Sci, Shenzhen Inst Adv Technol, Ctr Intelligent Bion, Shenzhen, Peoples R China
[2] Chinese Acad Sci, Shenzhen Inst Adv Technol, Guangdong Prov Key Lab Robot & Intelligent Syst, Shenzhen, Peoples R China
[3] Chinese Acad Sci, Shenzhen Inst Adv Technol, Key Lab Human Machine Intelligent Synergic Syst, Shenzhen, Peoples R China
来源：
2019 AUSTRALIAN & NEW ZEALAND CONTROL CONFERENCE (ANZCC) | 2019年
关键词：
STABILIZATION;
D O I：
10.1109/anzcc47194.2019.8945770
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a TID controller is applied for the trajectory tracking of a quadrotor. The mathematical model of the control system is derived and compared with the traditional PD (Proportional-Derivative) controller. In order to improve the control precision of the UAV, the controller is designed by selecting the proper tuning parameters. To explore the effectiveness of the proposed controller, dynamic responses of a DAV obtained by using the TID controller and the validation of the results compared with the PD controller. The control performances are analysed by using MATLAB/Simulink model.
引用
收藏
页码：139 / 144
页数：6
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