A study on Quad-copter attitude controllers

Quad-copters are one of the most utilized unmanned aerial vehicles in both military and commercial applications. The ability of quad-copters to hover and low altitude flying makes them suitable for applications like surveillance, target tracking, rescue operations and agricultural activities etc. Be...

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Bibliographic Details
Published in2023 3rd International Conference on Range Technology (ICORT) pp. 1 - 6
Main Authors Sahu, Satyabrata, Deb, Alok Kanti
Format Conference Proceeding
LanguageEnglish
Published IEEE 23.02.2023
Subjects
Attitude control
Attitude Controller
Mathematical models
MATLAB/Simulink
Nonlinear PD Control
PD control
Position control
Quad-copter
Stability analysis
Surveillance
Target tracking
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Summary:Quad-copters are one of the most utilized unmanned aerial vehicles in both military and commercial applications. The ability of quad-copters to hover and low altitude flying makes them suitable for applications like surveillance, target tracking, rescue operations and agricultural activities etc. Because of inherent coupling of attitude to position dynamics, attitude control plays an important role in flying the quad-copters. In this work, MATLAB/Simulink platform is used for model simulation of Quad-copter. Then various basic attitude controllers available in literature were implemented on the Quad-copter model. Step response of the system with all the controllers are obtained after tuning the controllers using Genetic Algorithm (GA) and their performance were evaluated and compared. A novel simplified nonlinear controller is proposed for attitude control of Quad-copter along with its stability analysis.
DOI:10.1109/ICORT56052.2023.10249192