PID with derivative filter and integral sliding-mode controller techniques applied to an indoor micro quadrotor
文献类型：会议论文
| 作者 | Kranthi Kumar Deveerasetty; Yimin Zhou |
| 出版日期 | 2018 |
| 会议日期 | 2018 |
| 会议地点 | YongPyong Resort, PyeongChang, GangWon, Korea |
| 英文摘要 | The paper proposes two different controllers for tracking control of a quadrotor. An Euler-Lagrange formulation is used to drive the dynamic mathematical model of a quadrotor. To illustrate the advantages of the proposed controllers and for simplicity, all the aerodynamics, Coriolis, drags and gyroscopic effect are abandoned. A PID controller with derivative filter is proposed for the position tracking of the quadrotor here. The advantage of the proposed PID controller include easiness of implementation, effectuate higher stability and less dependent on the system model. The integral sliding-mode controller is proposed to obtain the desired attitude angles for the quadrotor tracking and its advantage is unaffected by the system model errors. The designed controllers can stabilize the roll, pitch, and yaw angles and make the quadrotor to move (x; y; z) positions to their desired values. The Lyapunovs theorem is useful to obtain the quadrotor controllers and also ensure the system track to attain and maintain on the sliding surfaces. The validation of results has been tested in MATLAB simulation and exhibits adequate performance. |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/13844]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 推荐引用方式 GB/T 7714 | Kranthi Kumar Deveerasetty,Yimin Zhou. PID with derivative filter and integral sliding-mode controller techniques applied to an indoor micro quadrotor[C]. 见:. YongPyong Resort, PyeongChang, GangWon, Korea. 2018. |
入库方式： OAI收割
来源：深圳先进技术研究院
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