Dynamics modelling and linear control of quadcopter

In this paper, a cascade PID feedback control algorithm is proposed to stabilize the attitude of a quadcopter so that the balancing state can be ensured in spite of disturbances. A mathematical model of quadcopter dynamics is developed by applying Newton-Euler method. It reveals the exact relationsh...

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Bibliographic Details
Published inInternational Conference on Advanced Mechatronic Systems pp. 498 - 503
Main Authors Pengcheng Wang, Zhihong Man, Zhenwei Cao, Jinchuan Zheng, Yong Zhao
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2016
Subjects
Aerodynamics
Attitude control
cascade PID
dynamics
Heuristic algorithms
Mathematical model
Newton-Euler method
PD control
PI control
quadcopter
Vehicle dynamics
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Summary:In this paper, a cascade PID feedback control algorithm is proposed to stabilize the attitude of a quadcopter so that the balancing state can be ensured in spite of disturbances. A mathematical model of quadcopter dynamics is developed by applying Newton-Euler method. It reveals the exact relationships among all the variables involved. Both linear and nonlinear state-space equations are derived afterwards, which are essential for the controller design and further development. The simulations are also carried out to demonstrate the effectiveness and robustness of the cascade PID algorithm compared with classic PID control scheme.
ISSN:2325-0690
DOI:10.1109/ICAMechS.2016.7813499