Abstract
This article presents the kinematic and dynamic model of a X8 quadcopter, as well as control methodologies based on the PID controller and Sliding Mode Controller. The main contributions are centered on the controllers tuning based on particle swarm optimization algorithm and on the controllers performance comparison for nominal operation and for faulty situations. In order to show the overall performance, simulation results for trajectory and orientation tracking control are presented.
| Original language | English |
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| Title of host publication | ICINCO 2018 - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics |
| Editors | Oleg Gusikhin, Kurosh Madani |
| Publisher | SciTePress - Science and Technology Publications |
| Pages | 86-93 |
| Number of pages | 8 |
| Volume | 1 |
| ISBN (Electronic) | 9789897583216 |
| Publication status | Published - 1 Jan 2018 |
| Event | 15th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2018 - Porto, Portugal Duration: 29 Jul 2018 → 31 Jul 2018 |
Conference
| Conference | 15th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2018 |
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| Country/Territory | Portugal |
| City | Porto |
| Period | 29/07/18 → 31/07/18 |
Keywords
- Failures
- Faults
- Kinematic and Dynamic Models
- PID Controller
- Quadcopter Drone
- Sliding Mode Controller