![](bg6.png)
0 500 1000 1500 2000 2500 3000 3500 4000
time in (ms)
-0.02
0
0.02
0.04
0.06
0.08
0.1
YAW( ) angle in radians
YAW( ) PD controller
0 500 1000 1500 2000 2500 3000 3500 4000
time in (ms)
-15
-10
-5
0
5
Nm
10
-3
YAW Torque control
0 500 1000 1500 2000 2500 3000 3500 4000
time in (ms)
-0.3
-0.2
-0.1
0
0.1
0.2
0.3
ROLL( ) angle in radians
ROLL( ) PD controller
0 500 1000 1500 2000 2500 3000 3500 4000
time in (ms)
-0.1
-0.05
0
0.05
0.1
Nm
ROLL Torque control
0 500 1000 1500 2000 2500 3000 3500 4000
time in (ms)
-0.3
-0.2
-0.1
0
0.1
0.2
0.3
PITCH( ) angle in radians
PITCH( ) PD controller
0 500 1000 1500 2000 2500 3000 3500 4000
time in (ms)
-0.1
-0.05
0
0.05
0.1
Nm
PITCH Torque control
Figure 9: Real Torques and desired angles ROLL, PITCH
and YAW with a BS controllers.
1
0
-2.5
0.2
0.5
-2
0.4
0.6
X-Y-Z trajectory BS controller
-1.5
0
Z position in metres
Y position in metres
0.8
X position in metres
-1
-0.5
1
-0.5
1.2
-1
0
-1.5
0.5
Desired Trajectory
Trajectory
Figure 10: Real 3D trajectories using a BS controllers.
the other hand for positioning control the control al-
gorithms were developed under C++ and ROS, which
allow us to create a network where the ground sta-
tion, robots and sensors can exchange information at
120 Hz. The Drone performance was tested using
an square trajectory with 2 metres side, which was
enough to move the desired roll and pitch angles and
see their control response with the PD controller. The
desired angles was reached within a short period of
time, for instance 0.25 rad in 100 ms on the experi-
mental results for roll angle as figure 6 shows. Re-
garding positioning control, a linear PD controller and
a non linear Backstepping controller were tested, get-
ting a better response for X and Y position with the
Backstepping controller in figure 8 than the PD in fig-
ure 5, whereas for the altitude Z the PD controller had
a quicker response compared with BS as shown in fig-
ures 7 and 10.
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Real-Time Setup with PD and Backstepping Control for a Pelican Quadrotor
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