Quadcopter control approaches and performance analysis

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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 languageEnglish
Title of host publicationICINCO 2018 - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics
EditorsOleg Gusikhin, Kurosh Madani
PublisherSciTePress - Science and Technology Publications
Pages86-93
Number of pages8
Volume1
ISBN (Electronic)9789897583216
Publication statusPublished - 1 Jan 2018
Event15th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2018 - Porto, Portugal
Duration: 29 Jul 201831 Jul 2018

Conference

Conference15th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2018
CountryPortugal
CityPorto
Period29/07/1831/07/18

Keywords

  • Failures
  • Faults
  • Kinematic and Dynamic Models
  • PID Controller
  • Quadcopter Drone
  • Sliding Mode Controller

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