Simplified Quadcopter Simulation Model for Spike-Based Hardware PID Controller using SystemC-AMS

Abstract

In this research, we employ spike-based PID controller for Quadcopter control. Quadcopters control their attitude by proportionalintegralderivative (PID) controller for four rotors. General hardware controllers use fixed point computations for PID that consume hardware resources. On the other hand, spikebased PID controller can reduce hardware cost compared with using fixed-point ones. For feasibility tests, we implemented (1) spike-based hardware PID controller for quadcopter attitude control, and (2) an analog-digital mixed simulator for single axis quadcopter model using SystemC-AMS. As a result, we reduced FPG