On-board/off-board smooth trajectory control for quadcopters through multi-loop PID tuning

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dc.contributor.authorSimpson, T.
dc.contributor.authorHull, R.
dc.contributor.authorDadgar, A.
dc.contributor.authorRajagopalan, A.
dc.contributor.authorKim, J.
dc.contributor.authorChen, L.
dc.contributor.conferenceAustralasian Conference on Robotics and Automation (ACRA) (9 Dec 2019 - 11 Dec 2019 : Adelaide, Australia)
dc.date.issued2019
dc.descriptionPaper - Session 10 - Sensors, Actuators, Networks and Systems
dc.description.abstractTraditional 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.
dc.description.statementofresponsibilityTaylor Simpson, Rhett Hull, Aaron Dadgar, Arvind Rajagopalan, Jijoong Kim, Lei Chen
dc.identifier.citationAustralasian Conference on Robotics and Automation, ACRA, 2019, vol.2019-December, pp.1-10
dc.identifier.issn1448-2053
dc.identifier.orcidChen, L. [0000-0002-2269-2912]
dc.identifier.urihttp://hdl.handle.net/2440/129309
dc.language.isoen
dc.publisherAustralian Robotics and Automation Association
dc.publisher.placeSydney
dc.relation.ispartofseriesAustralasian Conference on Robotics and Automation (ACRA); paper 148
dc.rightsCopyright status unknown
dc.source.urihttps://ssl.linklings.net/conferences/acra/acra2019_proceedings/views/by_auth.html
dc.titleOn-board/off-board smooth trajectory control for quadcopters through multi-loop PID tuning
dc.typeConference paper
pubs.publication-statusPublished

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