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Type: Conference paper
Title: On-board/off-board smooth trajectory control for quadcopters through multi-loop PID tuning
Author: Simpson, T.
Hull, R.
Dadgar, A.
Rajagopalan, A.
Kim, J.
Chen, L.
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
Publisher Place: Sydney
Issue Date: 2019
Series/Report no.: Australasian Conference on Robotics and Automation (ACRA); paper 148
ISSN: 1448-2053
Conference Name: Australasian Conference on Robotics and Automation (ACRA) (09 Dec 2019 - 11 Dec 2019 : Adelaide, Australia)
Statement of
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
RMID: 1000021815
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Appears in Collections:Mechanical Engineering conference papers

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