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.
|Number of pages||10|
|Journal||Australasian Conference on Robotics and Automation, ACRA|
|Publication status||Published - 9 Dec 2019|
|Event||Australasian Conference on Robotics and Automation 2019, ACRA 2019 - Adelaide, Australia|
Duration: 9 Dec 2019 → 11 Dec 2019
- control technique
- positional demands