This paper studies the design of an enhanced proportional-derivative (PD) controller to improve the transient response of a micro quadrotor helicopter (quadcopter). In particular, the controller minimizes the effect of disturbances by considering the orientation and rotation of the platform. A dynamics model is developed for an experimental micro quadcopter platform, and simulation results are presented that compare the proposed enhanced PD controller to a standard PD controller. Results show a 50% reduction in the peak response and a 45% reduction in the settling time, demonstrating the effectiveness of the controller.
- Dynamic Systems and Control Division
Enhanced Proportional-Derivative Control of a Micro Quadcopter
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Johnson, NL, & Leang, KK. "Enhanced Proportional-Derivative Control of a Micro Quadcopter." Proceedings of the ASME 2013 Dynamic Systems and Control Conference. Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems. Palo Alto, California, USA. October 21–23, 2013. V001T01A005. ASME. https://doi.org/10.1115/DSCC2013-3990
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