Modeling and PID cascade control of a Quadcopter for trajectory tracking

@article{Paiva2015ModelingAP,
  title={Modeling and PID cascade control of a Quadcopter for trajectory tracking},
  author={Ernesto A. Paiva and Juan C. Soto and Julio A. Salinas and William Ipanaqu{\'e}},
  journal={2015 CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON)},
  year={2015},
  pages={809-815}
}
This paper presents the mathematical model of a quadricopter under the Newton-Euler formulation. A Transfer function has been chosen, which represents a brushless motor and its driver as one system. PID cascade control had been designed to solve the path tracking problem for a quadcopter. The controller is evaluated in a 3D environment in Simulink. 

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