Abstract
Determining the most suitable control algorithm for a system is not an easy task. In theory, each controller has its own advantages and disadvantages comparing to the others. However, in the real world, the behavior of the controller also depends on many other factors such as the calculating ability of the control board, the accuracy of the sensors, the way the hardware communicate with the others, etc. In order to find the pros and cons of each control algorithm in the real world, each of them has to be tested and then comparing their results. This article presents a simple way to test the behavior of various control algorithms, with the quadrotor as the control target and ArduPilot is the framework to create the firmware carrying multi controllers. At the end of this article, the results of 3 control algorithms: Original PID of ArduPilot, new developed PID and Integral Backstepping will be presented and compared. These data is created by using Software In The Loop simulation (SITL), a tool provided by ArduPilot to test the new developed firmware.
Highlights
Quadrotor is a six degree of freedoms system which is only controlled by four fixedpitch -space rotors
There are several control algorithms which is suitable for a quadrotor such as PID, Adaptive Control, Integral Backstepping [2], nonlinear H∞ [3] or LQR controllers [4]. .there is no optimized controller for
Since each method has its pros and cons, the control algorithm for a quadrotor should base on the environment of the real system as well as its objectives
Summary
Quadrotor is a six degree of freedoms system which is only controlled by four fixedpitch -space rotors. There are several control algorithms which is suitable for a quadrotor such as PID, Adaptive Control, Integral Backstepping [2], nonlinear H∞ [3] or LQR controllers [4]. Since each method has its pros and cons, the control algorithm for a quadrotor should base on the environment of the real system as well as its objectives. In order to experience the pros and cons of control methods, we decide to use the ArduPilot, a very popular framework used to create the firmware for the autonomous unmanned system, as the framework to develop a module to integrate new control algorithms for the quadrotor. Using SITL simulation, we can verify that this module is good enough for taking the experiment with the real system and give us some ideas about the good and bad side of the integrated controllers
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