{"title":"AR无人机四旋翼自整定PID控制器设计","authors":"V. Babu, K. Das, S. Kumar","doi":"10.1109/ICAR.2017.8023513","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"31","resultStr":"{\"title\":\"Designing of self tuning PID controller for AR drone quadrotor\",\"authors\":\"V. Babu, K. Das, S. Kumar\",\"doi\":\"10.1109/ICAR.2017.8023513\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":198633,\"journal\":{\"name\":\"2017 18th International Conference on Advanced Robotics (ICAR)\",\"volume\":\"2 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-07-10\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"31\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 18th International Conference on Advanced Robotics (ICAR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAR.2017.8023513\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 18th International Conference on Advanced Robotics (ICAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.2017.8023513","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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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