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
相关论文
共 50 条
  • [31] Trajectory Tracking Control of a Quadrotor
    Ajmera, Juhi
    Ankaranarayanan, V.
    2015 INTERNATIONAL CONFERENCE ON CONTROL COMMUNICATION & COMPUTING INDIA (ICCC), 2015, : 48 - 53
  • [32] Trajectory Tracking of a Quadrotor Using Sliding Mode Control
    Reinoso, M.
    Minchala, L. I.
    Ortiz, J. P.
    Astudillo, D.
    Verdugo, D.
    IEEE LATIN AMERICA TRANSACTIONS, 2016, 14 (05) : 2157 - 2166
  • [33] Two-layer saturated PID controller for the trajectory tracking of a quadrotor UAV
    Javier Ollervides-Vazquez, Edmundo
    Gilberto Rojo-Rodriguez, Erik
    Ulises Rojo-Rodriguez, Edgar
    Enrique Cabriales-Ramirez, Luis
    Garcia-Salazar, Octavio
    2020 INTERNATIONAL CONFERENCE ON MECHATRONICS, ELECTRONICS AND AUTOMOTIVE ENGINEERING (ICMEAE 2020), 2020, : 85 - 91
  • [34] Trajectory Tracking for a Commercial Quadrotor
    Rosaldo-Serrano, M. A.
    Aranda-Bricaire, E.
    2019 6TH INTERNATIONAL CONFERENCE ON CONTROL, DECISION AND INFORMATION TECHNOLOGIES (CODIT 2019), 2019, : 1616 - 1621
  • [35] Real-time Trajectory Tracking of a Quadrotor using Adaptive Backstepping Controller and RNN based Uncertainty Observer
    Yogi, Subhash Chand
    Tripathi, Vibhu Kumar
    Kamath, Archit Krishna
    Behera, Laxmidhar
    2020 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN), 2020,
  • [36] A novel Lyapunov-based trajectory tracking controller for a quadrotor: Experimental analysis by using two motion tasks
    Perez-Alcocer, Ricardo
    Moreno-Valenzuela, Javier
    MECHATRONICS, 2019, 61 : 58 - 68
  • [37] Autonomous trajectory tracking of a quadrotor UAV using ANFIS controller based on Gaussian pigeon-inspired optimization
    Selma B.
    Chouraqui S.
    Selma B.
    Abouaïssa H.
    Bakir T.
    CEAS Aeronautical Journal, 2021, 12 (01) : 69 - 83
  • [38] A Robust Disturbance-Rejection Controller Using Model Predictive Control for Quadrotor UAV in Tracking Aggressive Trajectory
    Xu, Zhixiong
    Fan, Li
    Qiu, Wei
    Wen, Guangwei
    He, Yunhan
    DRONES, 2023, 7 (09)
  • [39] Attitude trajectory tracking of quadrotor UAV using super-twisting observer-based adaptive controller
    Chen, Ai-Jun
    Sun, Ming-Jian
    Wang, Zhen-Hua
    Feng, Nai-Zhang
    Shen, Yi
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING, 2021, 235 (10) : 1146 - 1157
  • [40] Robust trajectory tracking controller for quadrotor helicopter based on a novel composite control scheme
    Zhang, Juqian
    Gu, Dawei
    Ren, Zhaohui
    Wen, Bangchun
    AEROSPACE SCIENCE AND TECHNOLOGY, 2019, 85 : 199 - 215
12345