Modeling and PID cascade control of a Quadcopter for trajectory tracking

被引：0

作者：

Paiva, Ernesto A. ^{[1
]}

Soto, Juan C. ^{[1
]}

Salinas, Julio A. ^{[1
]}

Ipanaque, William ^{[1
]}

机构：

[1] Univ Piura, Lab Automat Control Syst, Piura, Peru

来源：

2015 CHILEAN CONFERENCE ON ELECTRICAL, ELECTRONICS ENGINEERING, INFORMATION AND COMMUNICATION TECHNOLOGIES (CHILECON) | 2015年

关键词：

Unmanned aerial vehicles; modeling; simulation; position control; PID cascade;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

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.

引用

页码：809 / 815

页数：7

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