A New Nonlinear PI/PID Controller for Quadrotor Posture Regulation
Authors:
- Salvador Gonzalez-VazquezSGSalvador Gonzalez-Vazquez
- Javier Moreno-ValenzuelaJavier Moreno-Valenzuela
- 1 September 2010
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 642-647
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
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