A gradient optimization based PID tuning approach on quadrotor

• Published in: The 27th Chinese Control and Decision Conference (2015 CCDC) pp. 1588 - 1593
• Main Authors: Jiangcheng Zhu, Endong Liu, Shan Guo, Chao Xu
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.05.2015
• Subjects: Cost function; Gradient Optimization; Mathematical model; PD control; PID tuning; Propellers; Quadrotor; Tuning; Vehicle dynamics

Quadrotor helicopter is becoming a popular smart equipment these years, in entertainment, transportation and military areas. Flight control is the foundation of all functions applied on quadrotor. PID controller, as a classical but reliable design, is widely used in quadrotor flight control. In the...