TY - GEN
T1 - Quadcopter UAV Control based on Input-Output Linearization and PID
AU - Aguerrebere, J.
AU - Hernandez-Martinez, E. G.
AU - Montufar-Chavez, S.
AU - Tortolero-Baena, X.
AU - Salgado-Aguirre, M.
AU - Fernandez-Anaya, G.
AU - Ferreira-Vazquez, E.
AU - Flores-Godoy, J. J.
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/8/9
Y1 - 2021/8/9
N2 - A dynamical model of the quadcopter UAV is obtained considering the frictional effects in the positional and rotational coordinates. Then, a two-level control strategy is designed using an input-output Linearization in combination with PID controllers. The inner loop stabilizes the pitch, roll and yaw angles, whilst the outer-loop control is related to the position control, avoiding local Linearization. A PID control gain selection is analyzed to harmonize both control loops. The performance of the control approach is shown by numerical simulations.
AB - A dynamical model of the quadcopter UAV is obtained considering the frictional effects in the positional and rotational coordinates. Then, a two-level control strategy is designed using an input-output Linearization in combination with PID controllers. The inner loop stabilizes the pitch, roll and yaw angles, whilst the outer-loop control is related to the position control, avoiding local Linearization. A PID control gain selection is analyzed to harmonize both control loops. The performance of the control approach is shown by numerical simulations.
UR - http://www.scopus.com/inward/record.url?scp=85115662688&partnerID=8YFLogxK
U2 - 10.1109/MWSCAS47672.2021.9531674
DO - 10.1109/MWSCAS47672.2021.9531674
M3 - Contribución a la conferencia
AN - SCOPUS:85115662688
T3 - Midwest Symposium on Circuits and Systems
SP - 1003
EP - 1006
BT - 2021 IEEE International Midwest Symposium on Circuits and Systems, MWSCAS 2021 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Midwest Symposium on Circuits and Systems, MWSCAS 2021
Y2 - 9 August 2021 through 11 August 2021
ER -