AR无人机四旋翼自整定PID控制器设计

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-10 DOI:10.1109/ICAR.2017.8023513

V. Babu, K. Das, S. Kumar

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引用次数: 31

摘要

本文采用基于梯度修正的方法对AR无人机四旋翼的比例-积分-导数(PID)控制器参数进行了整定。三个PID控制器参数，比例增益(Kp)，积分增益(Ki)和导数增益(Kd)在飞行时在线调谐。所提出的技术已经通过两个测试用例进行了验证。一种是路点导航，另一种是leader-follower群体控制。实验结果和仿真结果均得到了验证。

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Designing of self tuning PID controller for AR drone quadrotor

In this paper, a gradient decent based methodology is employed to tune the Proportional-Integral-Derivative (PID) controller parameters for AR Drone quadrotor. The three PID controller parameters, proportional gain (Kp), integral gain (Ki) and derivative gain (Kd) are tuned online while flying. The proposed technique has been demonstrated through two test cases. One is the way-point navigation and other is the leader-follower formation control. The experimental result as well as simulations result have shown for both the cases.

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2017 18th International Conference on Advanced Robotics (ICAR)

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