Simulation and experimental study on attitude control of quadrotor

Nuttakorn Trirattanawananon (1) , Benjamas Panomruttanarug (2) , Kohji Higuchi (3) , Felix Mora-Camino (4)

1 KMUTNB - King Mongkut's University of Technology North Bangkok
2 King Mongkuts University of Technology
3 Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo, 152-8550, Japan
4 MAIAA - ENAC - Laboratoire de Mathématiques Appliquées, Informatique et Automatique pour l'Aérien

This paper studies dynamic behavior of a quadrotor in both simulation and experiment when tracking desired attitude angles. The flight attitude control implemented in this research is designed based on a feedback control with an inner-loop structure as in the Aeroquad project. The feedback control configuration is applied to the dynamic model of a DIY qaudrotor UAV to simulate its attitude tracking behavior when tuning the PID gains based on a heuristic approach. The well-tuned PID controller is therefore applied to the experiment to validate the desired tracking response.

Domaines: Automatique / Robotique

Nuttakorn Trirattanawananon, Benjamas Panomruttanarug, Kohji Higuchi, Felix Mora-Camino. Simulation and experimental study on attitude control of quadrotor. ROBIO 2014, 2014 IEEE International Conference on Robotics and Biomimetics, Dec 2014, Bali, Indonesia. pp.ISBN: 978-1-4799-7397-2, ⟨10.1109/ROBIO.2014.7090583⟩. ⟨hal-02193263⟩