Development of Vertical Movement Controller for Multirotor UAVs
[ 1 ] Instytut Automatyki, Robotyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] employee
2017
chapter in monograph / paper
english
- X8 quadrotor
- altitude
- vertical velocity
- vertical control
- PI controller
- PSO tuning
- visual reference
EN In this paper, a vertical velocity controller for multirotor UAVs is proposed. Based on the previous research, authors developed a model of vertical movement which takes into consideration measurement noises, and designed a simulation that allowed tuning of mentioned controller. As a regulation scheme, a classical PI structure was used. The derivative part was neglected because of high amplitude of noise during harsh touchdowns. Tuning of parameters was achieved by PSO optimisation. Experimental results showed that the selected control structure and its parameters fulfill stated requirements. In addition, developed simulation is adequate to the real platform.
339 - 348
20
WoS (15)