Quadcopter Control Approaches and Performance Analysis

Vasco Brito, Alexandre Brito, Luis Brito Palma, Paulo Gil

2018

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.

Paper Citation

in Harvard Style

Brito V., 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, pages 86-93. DOI: 10.5220/0006902600860093

in Bibtex Style

@conference{icinco18,
author={Vasco 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},
}

in EndNote Style

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
AU - Brito V.
AU - Palma L.
AU - Gil P.
PY - 2018
SP - 86
EP - 93
DO - 10.5220/0006902600860093