Successive Loop Closure Based Controller Design for an Autonomous Quadrotor Vehicle

Abstract:

In this paper, a new systematic approach for designing a self-tuning controller for an autonomous quadrotor robot is introduced.In order to design the self-tuning controller, first, a linearized dynamic model of a quadrotor about hovering positions is derived, and thenthe successive loop closure approach is applied to design the self-tuning PID controller of the attitude, altitude and velocity for the autonomous flying capability of the flying robot. In addition, nonlinearities of the design model are also imposed in the control loop by takinginto account the saturation of actuators. For the verification of the effectiveness of the proposed controller, various simulation studiesare carried out in terms of the accuracy and robustness.

• Periodical: Applied Mechanics and Materials (Volume 483)
• Pages: 361-367
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.483.361
• Online since: December 2013
• Authors: Ansu Man Singh, Deok Jin Lee, Dong Pyo Hong, Kil To Chong*
• Keywords: Flying Robot, Quadrotor Vehicle, Self-Tuning PID Controller, Successive Loop Closure

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