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|Title:||On-board/off-board smooth trajectory control for quadcopters through multi-loop PID tuning|
|Citation:||Proceedings of the Australasian Conference on Robotics and Automation (ACRA 2019), 2019 / vol.2019-December, pp.1-10|
|Publisher:||Australian Robotics and Automation Association|
|Series/Report no.:||Australasian Conference on Robotics and Automation (ACRA); paper 148|
|Conference Name:||Australasian Conference on Robotics and Automation (ACRA) (09 Dec 2019 - 11 Dec 2019 : Adelaide, Australia)|
|Taylor Simpson, Rhett Hull, Aaron Dadgar, Arvind Rajagopalan, Jijoong Kim, Lei Chen|
|Abstract:||Traditional quadcopter guidance control techniques involve calculating and responding to positional demands. Many guidance algorithms however specify an acceleration demand for the quadcopter to react to. To address this, a control system has been developed which utilises only acceleration commands for trajectory tracking. A comparison between positional control and acceleration control was undertaken, and identi ed that for such guidance algorithms, an acceleration-based model is advantageous in providing better tracking of desired trajectories generated in real-time in both simulation and hardware.|
|Description:||Paper - Session 10 - Sensors, Actuators, Networks and Systems|
|Rights:||Copyright status unknown|
|Appears in Collections:||Mechanical Engineering conference papers|
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