The Analysis on Posture Control of Micro Quadrotor Based on PID

The posture control of micro quadrotor is the key point in flying stability, in this paper, the structure of quadrotor is analyzed, and the kinetic equation has been deduced, a new proportional-integral-derivative controller (PID) control algorithm has been set up based on the velocity matrix, the parameters are simplified and divide to eight classification due to the value of the error. The simulation experiment has made, and experimental results demonstrate the practicability and effectiveness of the new PID algorithm.

[1]  Rogelio Lozano,et al.  Real-time stabilization and tracking of a four rotor mini-rotorcraft , 2003 .

[2]  Camillo J. Taylor,et al.  Quadrotor control using dual camera visual feedback , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[3]  John L. Crassidis,et al.  Predictive Filtering for Nonlinear Systems , 1996 .

[4]  S. A. Snell,et al.  Flight Control Law Using Nonlinear Dynamic Inversion Combined With Quantitative Feedback Theory , 1998 .

[5]  John L. Crassidis,et al.  Predictive filtering for attitude estimation without rate sensors , 1997 .

[6]  Rogelio Lozano,et al.  Real-time stabilization and tracking of a four-rotor mini rotorcraft , 2004, IEEE Transactions on Control Systems Technology.

[7]  A. Tayebi,et al.  Attitude stabilization of a four-rotor aerial robot , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[8]  Isaac Horowitz,et al.  Plant rational transfer approximation from input-output data , 1982 .

[9]  Robert Mahony,et al.  Design of a four-rotor aerial robot , 2002 .

[10]  Geng Yang,et al.  Finite-Time-Convergent Differentiator Based on Singular Perturbation Technique , 2007, IEEE Transactions on Automatic Control.

[11]  Yau-Tarng Juang,et al.  New methods to design an integral variable structure controller , 1996, IEEE Trans. Autom. Control..

[12]  Abdelhamid Tayebi,et al.  Attitude stabilization of a VTOL quadrotor aircraft , 2006, IEEE Transactions on Control Systems Technology.

[13]  Dennis S. Bernstein,et al.  Finite-Time Stability of Continuous Autonomous Systems , 2000, SIAM J. Control. Optim..

[14]  P. Ost.  Control of a Quadrotor Helicopter Using Visual Feedback , 2002 .