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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
Abstract : 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.
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https://hal-enac.archives-ouvertes.fr/hal-02193263
Contributor : Laurence Porte <>
Submitted on : Wednesday, July 24, 2019 - 12:39:40 PM
Last modification on : Tuesday, October 20, 2020 - 10:32:05 AM

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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⟩

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