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

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 journal › Conference article › peer-review

Abstract

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 language	English
Article number	159894
Number of pages	10
Journal	Australasian Conference on Robotics and Automation, ACRA
Volume	2019-December
Publication status	Published - 9 Dec 2019
Externally published	Yes
Event	Australasian Conference on Robotics and Automation 2019, ACRA 2019 - Adelaide, Australia Duration: 9 Dec 2019 → 11 Dec 2019

Keywords

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

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Cite this

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title = "On-board/off-board smooth trajectory control for quadcopters through multi-loop PID tuning",

abstract = "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.",

keywords = "quadcopter, control technique, positional demands, algorithms, trajectory, real-time, hardware, simulation",

author = "Taylor Simpson and Rhett Hull and Aaron Dadgar and Arvind Rajagopalan and Jijoong Kim and Lei Chen",

year = "2019",

month = dec,

day = "9",

language = "English",

volume = "2019-December",

journal = "Australasian Conference on Robotics and Automation, ACRA",

issn = "1448-2053",

publisher = "Australasian Robotics and Automation Association",

note = "Australasian Conference on Robotics and Automation 2019, ACRA 2019 ; Conference date: 09-12-2019 Through 11-12-2019",

}

TY - JOUR

T1 - On-board/off-board smooth trajectory control for quadcopters through multi-loop PID tuning

AU - Simpson, Taylor

AU - Hull, Rhett

AU - Dadgar, Aaron

AU - Rajagopalan, Arvind

AU - Kim, Jijoong

AU - Chen, Lei

PY - 2019/12/9

Y1 - 2019/12/9

N2 - 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.

AB - 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.

KW - quadcopter

KW - control technique

KW - positional demands

KW - algorithms

KW - trajectory

KW - real-time

KW - hardware

KW - simulation

UR - https://www.scopus.com/pages/publications/85085257002

M3 - Conference article

AN - SCOPUS:85085257002

SN - 1448-2053

VL - 2019-December

JO - Australasian Conference on Robotics and Automation, ACRA

JF - Australasian Conference on Robotics and Automation, ACRA

M1 - 159894

T2 - Australasian Conference on Robotics and Automation 2019, ACRA 2019

Y2 - 9 December 2019 through 11 December 2019

ER -

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

Abstract

Keywords

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