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Enhanced Proportional-Derivative Control of a Micro Quadcopter

[+] Author Affiliations
Norman L. Johnson, Kam K. Leang

University of Nevada, Reno, Reno, NV

Paper No. DSCC2013-3990, pp. V001T01A005; 5 pages
  • ASME 2013 Dynamic Systems and Control Conference
  • Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems
  • Palo Alto, California, USA, October 21–23, 2013
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5612-3
  • Copyright © 2013 by ASME


This paper studies the design of an enhanced proportional-derivative (PD) controller to improve the transient response of a micro quadrotor helicopter (quadcopter). In particular, the controller minimizes the effect of disturbances by considering the orientation and rotation of the platform. A dynamics model is developed for an experimental micro quadcopter platform, and simulation results are presented that compare the proposed enhanced PD controller to a standard PD controller. Results show a 50% reduction in the peak response and a 45% reduction in the settling time, demonstrating the effectiveness of the controller.

Copyright © 2013 by ASME



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