On-board/off-board smooth trajectory control for quadcopters through multi-loop PID tuning
Date
2019
Authors
Simpson, T.
Hull, R.
Dadgar, A.
Rajagopalan, A.
Kim, J.
Chen, L.
Editors
Advisors
Journal Title
Journal ISSN
Volume Title
Type:
Conference paper
Citation
Australasian Conference on Robotics and Automation, ACRA, 2019, vol.2019-December, pp.1-10
Statement of Responsibility
Taylor Simpson, Rhett Hull, Aaron Dadgar, Arvind Rajagopalan, Jijoong Kim, Lei Chen
Conference Name
Australasian Conference on Robotics and Automation (ACRA) (9 Dec 2019 - 11 Dec 2019 : Adelaide, Australia)
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.
School/Discipline
Dissertation Note
Provenance
Description
Paper - Session 10 - Sensors, Actuators, Networks and Systems
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