Self-tuning PID Control Design for Quadrotor UAV Based on Adaptive Pole Placement Control

被引：0

作者：

Yang, Jinpeng ^{[1
]}

Cai, Zhihao ^{[1
]}

Lin, Qing ^{[1
]}

Wang, Yingxun ^{[1
]}

机构：

[1] Beihang Univ, Natl Key Lab Sci & Technol Aircraft Control, Beijing 100191, Peoples R China

来源：

2013 CHINESE AUTOMATION CONGRESS (CAC) | 2013年

关键词：

quadrotor helicopters; flight control; self-tuning PID; adaptive control; simulation verification;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Quadrotor helicopters are an increasingly popular rotorcraft for unmanned aerial vehicle (UAV) platforms. Many groups have worked on quadrotors and realized various controllers and scenarios for it. And PID controller, because of simple structure, good stability and less dependence on the model, plays an important role in quadrotor control. This paper presents an application of Self-tuning PID controller based on adaptive pole placement to a quadrotor. This controller can tune the PID parameters online according to the system change. And the simulation results show that the designed flight controller can achieve accurate control for quadrotor with enough adaptability and robustness.

引用

页码：233 / 237

页数：5

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