Quadrotor trajectory tracking using PID cascade control

• Main Authors: Idres, Moumen, Mustapha, O, Okasha, Mohamed Elsayed Aly Abd Elaziz
• Format: Conference or Workshop Item
• Language: English; English
• Published: Institute of Physics Publishing 2017
• Subjects: TL500 Aeronautics
• Online Access: http://irep.iium.edu.my/62296/7/62296-Quadrotor%20trajectory%20tracking%20using%20PID%20cascade%20control.pdf; http://irep.iium.edu.my/62296/8/62296-Quadrotor%20trajectory%20tracking%20using%20PID%20cascade%20control-SCOPUS.pdf; http://irep.iium.edu.my/62296/; http://iopscience.iop.org/article/10.1088/1757-899X/270/1/012010/pdf

Quadrotors have been applied to collect information for traffic, weather monitoring, surveillance and aerial photography. In order to accomplish their mission, quadrotors have to follow specific trajectories. This paper presents proportional–integral–derivative (PID) cascade control of a quadrotor for path tracking problem when velocity and acceleration are small. It is based on near hover controller for small attitude angles. The integral of time-weighted absolute error (ITAE) criterion is used to determine the PID gains as a function of quadrotor modeling parameters. The controller is evaluated in three-dimensional environment in Simulink. Overall, the tracking performance is found to be excellent for small velocity condition