A new nonlinear PI/PID controller for quadrotor posture regulation

Salvador González-Vázquez; Javier Moreno-Valenzuela

doi:10.1109/CERMA.2010.78

A new nonlinear PI/PID controller for quadrotor posture regulation

Salvador González-Vázquez, Javier Moreno-Valenzuela

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

57 Scopus citations

Abstract

Based on the classic scheme of proportional , integral and derivative (PID) control, we present the design of a nonlinear controller, which aims to regulate the posture (position and orientation) of a 6 d.o.f. (degrees of freedom) aerial vehicle called Quadrotor. In particular, the Quadrotor horizontal position is controlled by PI actions, while the Quadrotor orientation and vertical position are controlled by PID algorithms. The controller shows robustness to aircraft systems effects, such as Coriolis forces and aerodynamic drag, although only the effect of gravitational forces is compensated. The controller performance is verified by numerical tests.

Original language	English
Title of host publication	Proceedings - 2010 IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010
Pages	642-647
Number of pages	6
DOIs	https://doi.org/10.1109/CERMA.2010.78
State	Published - 2010
Externally published	Yes
Event	2010 7th IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010 - Cuernavaca, Mexico Duration: 28 Sep 2010 → 1 Oct 2010

Publication series

Name	Proceedings - 2010 IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010

Conference

Conference	2010 7th IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010
Country/Territory	Mexico
City	Cuernavaca
Period	28/09/10 → 1/10/10

Keywords

Aerial vehicles
Control systems
PID

Access to Document

10.1109/CERMA.2010.78

Cite this

González-Vázquez, S., & Moreno-Valenzuela, J. (2010). A new nonlinear PI/PID controller for quadrotor posture regulation. In Proceedings - 2010 IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010 (pp. 642-647). Article 5692411 (Proceedings - 2010 IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010). https://doi.org/10.1109/CERMA.2010.78

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title = "A new nonlinear PI/PID controller for quadrotor posture regulation",

abstract = "Based on the classic scheme of proportional , integral and derivative (PID) control, we present the design of a nonlinear controller, which aims to regulate the posture (position and orientation) of a 6 d.o.f. (degrees of freedom) aerial vehicle called Quadrotor. In particular, the Quadrotor horizontal position is controlled by PI actions, while the Quadrotor orientation and vertical position are controlled by PID algorithms. The controller shows robustness to aircraft systems effects, such as Coriolis forces and aerodynamic drag, although only the effect of gravitational forces is compensated. The controller performance is verified by numerical tests.",

keywords = "Aerial vehicles, Control systems, PID",

author = "Salvador Gonz{\'a}lez-V{\'a}zquez and Javier Moreno-Valenzuela",

year = "2010",

doi = "10.1109/CERMA.2010.78",

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pages = "642--647",

booktitle = "Proceedings - 2010 IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010",

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}

González-Vázquez, S & Moreno-Valenzuela, J 2010, A new nonlinear PI/PID controller for quadrotor posture regulation. in Proceedings - 2010 IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010., 5692411, Proceedings - 2010 IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010, pp. 642-647, 2010 7th IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010, Cuernavaca, Mexico, 28/09/10. https://doi.org/10.1109/CERMA.2010.78

A new nonlinear PI/PID controller for quadrotor posture regulation. / González-Vázquez, Salvador; Moreno-Valenzuela, Javier.
Proceedings - 2010 IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010. 2010. p. 642-647 5692411 (Proceedings - 2010 IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - Based on the classic scheme of proportional , integral and derivative (PID) control, we present the design of a nonlinear controller, which aims to regulate the posture (position and orientation) of a 6 d.o.f. (degrees of freedom) aerial vehicle called Quadrotor. In particular, the Quadrotor horizontal position is controlled by PI actions, while the Quadrotor orientation and vertical position are controlled by PID algorithms. The controller shows robustness to aircraft systems effects, such as Coriolis forces and aerodynamic drag, although only the effect of gravitational forces is compensated. The controller performance is verified by numerical tests.

AB - Based on the classic scheme of proportional , integral and derivative (PID) control, we present the design of a nonlinear controller, which aims to regulate the posture (position and orientation) of a 6 d.o.f. (degrees of freedom) aerial vehicle called Quadrotor. In particular, the Quadrotor horizontal position is controlled by PI actions, while the Quadrotor orientation and vertical position are controlled by PID algorithms. The controller shows robustness to aircraft systems effects, such as Coriolis forces and aerodynamic drag, although only the effect of gravitational forces is compensated. The controller performance is verified by numerical tests.

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KW - Control systems

KW - PID

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M3 - Contribución a la conferencia

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T2 - 2010 7th IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010

Y2 - 28 September 2010 through 1 October 2010

ER -

A new nonlinear PI/PID controller for quadrotor posture regulation

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