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 article


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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