Position control of quadrotor by embedded PID control with hardware in loop simulation

Author

Khan, Hamid Saeed ; Kadri, Muhammad Bilal

Author_Institution

Dept. of Electron. & Power Eng., Pakistan Navy Eng. Coll., Islamabad, Pakistan

fYear

2014

Firstpage

395

Lastpage

400

Abstract

Quadrotor is a MIMO non-linear system with complex dynamics. It is an open loop unstable system and it requires an efficient control scheme for a stable flight. This paper presents a discrete PID control scheme, which is able to move quadrotor to any point in 3-dimensional space. This paper also presents the implementation of this control scheme on programmable system-on-chip (PSOC) device and tests this controller hardware on quadrotor mathematical model with hardware-in-loop simulation. Simulation results have shown the effectiveness of control scheme and successful implementation on PSOC device.

Keywords

MIMO systems; autonomous aerial vehicles; control engineering computing; helicopters; mobile robots; nonlinear control systems; open loop systems; position control; system-on-chip; three-term control; MIMO nonlinear system; PSOC device; embedded PID control; hardware-in-loop simulation; open loop unstable system; programmable system-on-chip; quadrotor position control; unmanned aerial vehicle; Aerospace electronics; Angular velocity; Hardware; Mathematical model; PD control; Propellers; Three-dimensional displays;

fLanguage

English

Publisher

ieee

Conference_Titel

Multi-Topic Conference (INMIC), 2014 IEEE 17th International

Print_ISBN

978-1-4799-5754-5

Type

conf

DOI

10.1109/INMIC.2014.7097372

Filename

7097372