On-board/off-board smooth trajectory control for quadcopters through multi-loop PID tuning

Taylor Simpson, Rhett Hull, Aaron Dadgar, Arvind Rajagopalan, Jijoong Kim, Lei Chen

Research output: Contribution to journalConference articlepeer-review


Traditional quadcopter guidance control techniques involve calculating and responding to positional demands. Many guidance algorithms however specify an acceleration demand for the quadcopter to react to. To address this, a control system has been developed which utilises only acceleration commands for trajectory tracking. A comparison between positional control and acceleration control was undertaken, and identified that for such guidance algorithms, an acceleration-based model is advantageous in providing better tracking of desired trajectories generated in real-time in both simulation and hardware.

Original languageEnglish
Article number 159894
Number of pages10
JournalAustralasian Conference on Robotics and Automation, ACRA
Publication statusPublished - 9 Dec 2019
Externally publishedYes
EventAustralasian Conference on Robotics and Automation 2019, ACRA 2019 - Adelaide, Australia
Duration: 9 Dec 201911 Dec 2019


  • quadcopter
  • control technique
  • positional demands
  • algorithms
  • trajectory
  • real-time
  • hardware
  • simulation


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