Safe Implementation of PID Controllers for Unmanned Aerial Vehicles Using a Test Platform

被引：0

作者：

Ruiz Zea, Juan E. ^{[1
]}

Castrillon Bustamante, Katherine ^{[1
]}

Sanchez Alarcon, Omendey de Jesus ^{[1
]}

Rivadeneira, Pablo S. ^{[1
]}

机构：

[1] Univ Nacl Colombia, Dept Elect Energy & Automat, Medellin, Colombia

来源：

2023 IEEE 6TH COLOMBIAN CONFERENCE ON AUTOMATIC CONTROL, CCAC | 2023年

关键词：

Unmanned Aerial Vehicle; Quadcopter; PID Control; Roll; Pitch; Yaw; Test Platform;

D O I：

10.1109/CCAC58200.2023.10333348

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This work presents the design and implementation of a PID controller applied to an unmanned aerial vehicle. The main objective is to implement a control algorithm, which allows the vehicle in question to remain flying at a desired angular position, controlling the angular velocity of the vehicle. This thanks to the design of a gyroscope-type structure that limits spatial but not angular mobility. The PID controllers are of standard type, and were designed under simulation schemes using a dynamic model of the vehicle. Finally, using the test platform, the implementation of the designed controllers was performed and their performance was analyzed. The results show that the PID controller is able to stabilize the vehicle and keep it in the desired angular position.

引用

页码：224 / 229

页数：6

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