Cascade PID Controller for Quadrotor
文献类型：会议论文
| 作者 | Jiao Ren; Du-Xin Liu; Jia Liu; Xiaoxin Lin |
| 出版日期 | 2016 |
| 会议名称 | IEEE International Conference on Information and Automation(ICIA) |
| 会议地点 | 中国宁波 |
| 英文摘要 | Aiming at the attitude stabilization and angle tracking control of quadrotor aircraft, an optimized cascade double-loop PI-PID controller is proposed. It is based on strong coupling and nonlinear dynamic model in this paper. A PI controller acts as an outer loop controller, which controls primary physical parameter, namely the attitude. The other PID controller acts as an inner loop controller, which reads the output of outer loop controller as setpoint, controlling a rapid changing parameter, namely angular velocity. Hardware debugging platform is established to verify the controller. The results of simulation experiments show that the proposed controller is highly adaptable and has fast response. And the superior dynamic and stabilization performance is proved by the pole-zero maps and bode diagrams. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/10132]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2016 |
| 推荐引用方式 GB/T 7714 | Jiao Ren,Du-Xin Liu,Jia Liu,et al. Cascade PID Controller for Quadrotor[C]. 见:IEEE International Conference on Information and Automation(ICIA). 中国宁波. |
入库方式： OAI收割
来源：深圳先进技术研究院
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