Quadcopter Control Approaches and Performance Analysis

Vasco Brito; Alexandre Brito; Luis Brito Palma; Paulo Gil

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Paper

Quadcopter Control Approaches and Performance Analysis

Topics: Engineering Applications on Intelligent Control Systems and Optimization; Intelligent Fault Detection, Diagnosis and Prognostics; Optimization Algorithms

In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 86-93, 2018 , Porto, Portugal

Authors: Vasco Brito ¹ ; Alexandre Brito ² ; Luis Brito Palma ¹ and Paulo Gil ³

Affiliations: ¹ Universidade Nova de Lisboa-FCT-DEE, 2829-516 Caparica, Portugal, Uninova-CTS, 2829-516 Caparica and Portugal ; ² Universidade Nova de Lisboa-FCT-DEE, 2829-516 Caparica and Portugal ; ³ Universidade Nova de Lisboa-FCT-DEE, 2829-516 Caparica, Portugal, Uninova-CTS, 2829-516 Caparica, Portugal, Universidade de Coimbra-CISUC, 3030-290 Coimbra and Portugal

Keyword(s): Quadcopter Drone, Kinematic and Dynamic Models, PID Controller, Sliding Mode Controller, Faults and Failures.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Optimization Algorithms

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.

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Paper citation in several formats:

Brito, V.; Brito, A.; Palma, L. and Gil, P. (2018). Quadcopter Control Approaches and Performance Analysis. In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-321-6; ISSN 2184-2809, SciTePress, pages 86-93. DOI: 10.5220/0006902600860093

@conference{icinco18,
author={Vasco Brito. and Alexandre Brito. and Luis Brito Palma. and Paulo Gil.},
title={Quadcopter Control Approaches and Performance Analysis},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2018},
pages={86-93},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006902600860093},
isbn={978-989-758-321-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Quadcopter Control Approaches and Performance Analysis
SN - 978-989-758-321-6
IS - 2184-2809
AU - Brito, V.
AU - Brito, A.
AU - Palma, L.
AU - Gil, P.
PY - 2018
SP - 86
EP - 93
DO - 10.5220/0006902600860093
PB - SciTePress