TY - GEN
T1 - A new nonlinear PI/PID controller for quadrotor posture regulation
AU - González-Vázquez, Salvador
AU - Moreno-Valenzuela, Javier
PY - 2010
Y1 - 2010
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.
KW - Aerial vehicles
KW - Control systems
KW - PID
UR - http://www.scopus.com/inward/record.url?scp=79951607486&partnerID=8YFLogxK
U2 - 10.1109/CERMA.2010.78
DO - 10.1109/CERMA.2010.78
M3 - Contribución a la conferencia
AN - SCOPUS:79951607486
SN - 9780769542041
T3 - Proceedings - 2010 IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010
SP - 642
EP - 647
BT - Proceedings - 2010 IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010
T2 - 2010 7th IEEE Electronics, Robotics and Automotive Mechanics Conference, CERMA 2010
Y2 - 28 September 2010 through 1 October 2010
ER -