In this paper, a TID controller is applied for the trajectory tracking of a quadrotor. The mathematical model of the control system is derived and compared with the traditional PD (Proportional-Derivative) controller. In order to improve the control precision of the UAV, the controller is designed by selecting the proper tuning parameters. To explore the effectiveness of the proposed controller, dynamic responses of a UAV obtained by using the TID controller and the validation of the results compared with the PD controller. The control performances are analysed by using MATLAB/Simulink model.
Trajectory tracking of a quadrotor using TID controller
2019-11-01
208599 byte
Conference paper
Electronic Resource
English
A nonlinear quadrotor trajectory tracking controller with disturbance rejection
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