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Modeling and Trajectory Tracking of an Unmanned Quadrotor Using Optimal PID Controller by Hamid Hassani; Anass Mansouri; Ali Ahaitouf is a book available to read on EtoBox.

What is Modeling and Trajectory Tracking of an Unmanned Quadrotor Using Optimal PID Controller about?

Quadrotor Unmanned Aerial Vehicle (UAV) is a nonlinear, unstable, and coupled system which presents a great challenge in term of modeling and control design. In some cases, the nonlinear part of the quadrotor system is omitted to simplify the study and the control design, our goal is to derive the full dynamic model without neglecting the coupling influences between the translational and rotational dynamics. This paper conducted a detailed theoretical study of the dynamics and kinematics equations of the aerial vehicle based on the Newton-Euler formula. Then, a Proportional-Integral-Derivative (PID) controller is used to steer the quadrotor degrees of freedom. Ant Colony Optimization (ACO) algorithm is used to select the optimal configuration of the PID controller. Simulations for trajectory tracking are conducted to test the performance of the adopted PID controller.

Author

Hamid Hassani; Anass Mansouri; Ali Ahaitouf

Publisher

Springer Singapore : Imprint: Springer

Published

2021

Language

EN

ISBN

9789813368958

Subjects

Computer Science, Engineering, Stem