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PID vs LQ control techniques applied to an indoor micro quadrotor
Open accessAbstract
The development of miniature flying robots has become a reachable dream, thanks to the new sensing and actuating technologies. Micro VTOL systems represent a useful class of flying robots because of their strong abilities for small-area monitoring and building exploration. In this paper, we present the results of two model-based control techniques applied to an autonomous four-rotor micro helicopter called quadrotor. A classical approach (PID) assumed a simplified dynamics and a modern technique (LQ) based on a more complete model. Various simulations were performed and several tests on the bench validate the control laws. Finally, we present the results of the first test in flight with the helicopter released. These developments are part of the OS4 project in our lab.
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Cited by
Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter
Lee, D., Jin Kim, H., & Sastry, S. (2009) · International Journal of Control, Automation and Systems · doi:10.1007/s12555-009-0311-8 · Cited by 678
Shakeri, R., Al-Garadi, M. A., Badawy, A., Mohamed, A., Khattab, T., Al-Ali, A. K., Harras, K. A., & Guizani, M. (2019) · IEEE Communications Surveys & Tutorials · doi:10.1109/comst.2019.2924143 · Cited by 295
Trajectory Control of Quadrotor Unmanned Aerial Vehicles with Sliding Mode Adaptive Method
Zhu, C., & Song, Y. (2022) · 2022 IEEE 12th International Conference on Electronics Information and Emergency Communication (ICEIEC) · doi:10.1109/iceiec54567.2022.9835078 · Cited by 4
Metadata
- Authors
- Bouabdallah, S., Noth, A., & Siegwart, R.
- Venue
- 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
- Publisher
- IEEE
- Published
- 2004
- Pages
- 2451-2456 vol.3
- OpenAlex
- W2163198877
- Cited by
- 1,294
- References
- 0
- FWCI
- 9.52
- Type
- conference paper
- Language
- en
- Open access
- green
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- Bouabdallah, S., Noth, A., & Siegwart, R. (2004). PID vs LQ control techniques applied to an indoor micro quadrotor. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566). https://doi.org/10.1109/iros.2004.1389776
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