TY - JOUR
T1 - Nonlinear PID-Type Controller for Quadrotor Trajectory Tracking
AU - Moreno-Valenzuela, Javier
AU - Perez-Alcocer, Ricardo
AU - Guerrero-Medina, Manuel
AU - Dzul, Alejandro
N1 - Publisher Copyright:
© 1996-2012 IEEE.
PY - 2018/10
Y1 - 2018/10
N2 - A novel proportional-integral-derivative (PID)-type motion controller for a quadrotor is introduced in this paper. A rigorous analysis of the closed-loop system trajectories is provided, and gain tuning guidelines are discussed. Real-time experimental results consisting of the implementation of a PID-based scheme, a sliding-mode controller, and the new scheme are given. Gains are selected so that the three tested controllers present the same energy consumption. In order to assess the robustness of the controllers tested, experiments are carried out in the presence of disturbances in one of the actuators. Specifically, the disturbance consists in attenuating the force delivered. Better tracking accuracy is obtained with the introduced nonlinear PID-type algorithm.
AB - A novel proportional-integral-derivative (PID)-type motion controller for a quadrotor is introduced in this paper. A rigorous analysis of the closed-loop system trajectories is provided, and gain tuning guidelines are discussed. Real-time experimental results consisting of the implementation of a PID-based scheme, a sliding-mode controller, and the new scheme are given. Gains are selected so that the three tested controllers present the same energy consumption. In order to assess the robustness of the controllers tested, experiments are carried out in the presence of disturbances in one of the actuators. Specifically, the disturbance consists in attenuating the force delivered. Better tracking accuracy is obtained with the introduced nonlinear PID-type algorithm.
KW - Disturbances
KW - proportional-integral-de-rivative (PID)-type control
KW - quadrotor
KW - real-time experiments
KW - trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=85049808637&partnerID=8YFLogxK
U2 - 10.1109/TMECH.2018.2855161
DO - 10.1109/TMECH.2018.2855161
M3 - Artículo
SN - 1083-4435
VL - 23
SP - 2436
EP - 2447
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 5
M1 - 8410470
ER -