In this paper, we implement an advanced modelfree PID controller for a DJI F450 quadcopter which is controlled and stabilized by a non-rooted onboard Android smartphone, without the aid of an external IMU. Furthermore, since Android is not a realtime system, the control commands and sensor measurements are subject to significant latencies, and hence the PID controller is modified to account for non-trivial measurement asynchronicities. While baseline PID control is widely used with no further modifications, we show that some features can be added to obtain better performance in the presence of latencies and noise.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Advanced PID attitude control of a quadcopter using asynchronous android flight data


    Beteiligte:


    Erscheinungsdatum :

    2017-06-01


    Format / Umfang :

    687442 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Quadcopter Control with Smooth Flight Mode

    Mendoza-Mendoza, Julio Alberto / Gonzalez-Villela, Victor / Sepulveda-Cervantes, Gabriel et al. | Springer Verlag | 2020


    Attitude Free Position Control of a Quadcopter using Dynamic Inversion

    Wang, Jian / Bierling, Thomas / Achtelik, Michael et al. | AIAA | 2011


    Attitude Free Position Control of a Quadcopter using Dynamic Inversion

    Wang, J. / Bierling, T. / Achtelik, M. et al. | British Library Conference Proceedings | 2011