Quadcopter UAV Control based on Input-Output Linearization and PID

J. Aguerrebere, E. G. Hernandez-Martinez, S. Montufar-Chavez, X. Tortolero-Baena, M. Salgado-Aguirre, G. Fernandez-Anaya, E. Ferreira-Vazquez, J. J. Flores-Godoy

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Resumen

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.

Idioma originalInglés
Título de la publicación alojada2021 IEEE International Midwest Symposium on Circuits and Systems, MWSCAS 2021 - Proceedings
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas1003-1006
Número de páginas4
ISBN (versión digital)9781665424615
DOI
EstadoPublicada - 9 ago. 2021
Evento2021 IEEE International Midwest Symposium on Circuits and Systems, MWSCAS 2021 - Virtual, East Lansing
Duración: 9 ago. 202111 ago. 2021

Serie de la publicación

NombreMidwest Symposium on Circuits and Systems
Volumen2021-August
ISSN (versión impresa)1548-3746

Conferencia

Conferencia2021 IEEE International Midwest Symposium on Circuits and Systems, MWSCAS 2021
País/TerritorioUnited States
CiudadVirtual, East Lansing
Período9/08/2111/08/21

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