Please use this identifier to cite or link to this item:
https://hdl.handle.net/2440/129309
Type: | Conference paper |
Title: | On-board/off-board smooth trajectory control for quadcopters through multi-loop PID tuning |
Author: | Simpson, T. Hull, R. Dadgar, A. Rajagopalan, A. Kim, J. Chen, L. |
Citation: | Australasian Conference on Robotics and Automation, ACRA, 2019, vol.2019-December, pp.1-10 |
Publisher: | Australian Robotics and Automation Association |
Publisher Place: | Sydney |
Issue Date: | 2019 |
Series/Report no.: | Australasian Conference on Robotics and Automation (ACRA); paper 148 |
ISSN: | 1448-2053 |
Conference Name: | Australasian Conference on Robotics and Automation (ACRA) (9 Dec 2019 - 11 Dec 2019 : Adelaide, Australia) |
Statement of Responsibility: | Taylor Simpson, Rhett Hull, Aaron Dadgar, Arvind Rajagopalan, Jijoong Kim, Lei Chen |
Abstract: | Traditional quadcopter guidance control techniques involve calculating and responding to positional demands. Many guidance algorithms however specify an acceleration demand for the quadcopter to react to. To address this, a control system has been developed which utilises only acceleration commands for trajectory tracking. A comparison between positional control and acceleration control was undertaken, and identi ed that for such guidance algorithms, an acceleration-based model is advantageous in providing better tracking of desired trajectories generated in real-time in both simulation and hardware. |
Description: | Paper - Session 10 - Sensors, Actuators, Networks and Systems |
Rights: | Copyright status unknown |
Published version: | https://ssl.linklings.net/conferences/acra/acra2019_proceedings/views/by_auth.html |
Appears in Collections: | Aurora harvest 4 Mechanical Engineering conference papers |
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