Quadrotor trajectory tracking using PID cascade control
Quadrotors have been applied to collect information for traffic, weather monitoring, surveillance and aerial photography. In order to accomplish their mission, quadrotors have to follow specific trajectories. This paper presents proportional–integral–derivative (PID) cascade control of a quadroto...
| Main Authors: | , , |
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| Format: | Proceeding Paper |
| Language: | English English |
| Published: |
Institute of Physics Publishing
2017
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/62296/ http://irep.iium.edu.my/62296/7/62296-Quadrotor%20trajectory%20tracking%20using%20PID%20cascade%20control.pdf http://irep.iium.edu.my/62296/8/62296-Quadrotor%20trajectory%20tracking%20using%20PID%20cascade%20control-SCOPUS.pdf |
| _version_ | 1848785821619978240 |
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| author | Idres, Moumen Mustapha, O Okasha, Mohamed Elsayed Aly Abd Elaziz |
| author_facet | Idres, Moumen Mustapha, O Okasha, Mohamed Elsayed Aly Abd Elaziz |
| author_sort | Idres, Moumen |
| building | IIUM Repository |
| collection | Online Access |
| description | Quadrotors have been applied to collect information for traffic, weather monitoring,
surveillance and aerial photography. In order to accomplish their mission, quadrotors have to
follow specific trajectories. This paper presents proportional–integral–derivative (PID) cascade
control of a quadrotor for path tracking problem when velocity and acceleration are small. It is
based on near hover controller for small attitude angles. The integral of time-weighted absolute
error (ITAE) criterion is used to determine the PID gains as a function of quadrotor modeling
parameters. The controller is evaluated in three-dimensional environment in Simulink. Overall,
the tracking performance is found to be excellent for small velocity condition |
| first_indexed | 2025-11-14T16:59:14Z |
| format | Proceeding Paper |
| id | iium-62296 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-14T16:59:14Z |
| publishDate | 2017 |
| publisher | Institute of Physics Publishing |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-622962018-06-26T08:53:04Z http://irep.iium.edu.my/62296/ Quadrotor trajectory tracking using PID cascade control Idres, Moumen Mustapha, O Okasha, Mohamed Elsayed Aly Abd Elaziz TL500 Aeronautics Quadrotors have been applied to collect information for traffic, weather monitoring, surveillance and aerial photography. In order to accomplish their mission, quadrotors have to follow specific trajectories. This paper presents proportional–integral–derivative (PID) cascade control of a quadrotor for path tracking problem when velocity and acceleration are small. It is based on near hover controller for small attitude angles. The integral of time-weighted absolute error (ITAE) criterion is used to determine the PID gains as a function of quadrotor modeling parameters. The controller is evaluated in three-dimensional environment in Simulink. Overall, the tracking performance is found to be excellent for small velocity condition Institute of Physics Publishing 2017-12-01 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/62296/7/62296-Quadrotor%20trajectory%20tracking%20using%20PID%20cascade%20control.pdf application/pdf en http://irep.iium.edu.my/62296/8/62296-Quadrotor%20trajectory%20tracking%20using%20PID%20cascade%20control-SCOPUS.pdf Idres, Moumen and Mustapha, O and Okasha, Mohamed Elsayed Aly Abd Elaziz (2017) Quadrotor trajectory tracking using PID cascade control. In: AEROS Conference 2017, 12 December 2017, Putrajaya, Malaysia. http://iopscience.iop.org/article/10.1088/1757-899X/270/1/012010/pdf 10.1088/1757-899X/270/1/012010 |
| spellingShingle | TL500 Aeronautics Idres, Moumen Mustapha, O Okasha, Mohamed Elsayed Aly Abd Elaziz Quadrotor trajectory tracking using PID cascade control |
| title | Quadrotor trajectory tracking using PID cascade control |
| title_full | Quadrotor trajectory tracking using PID cascade control |
| title_fullStr | Quadrotor trajectory tracking using PID cascade control |
| title_full_unstemmed | Quadrotor trajectory tracking using PID cascade control |
| title_short | Quadrotor trajectory tracking using PID cascade control |
| title_sort | quadrotor trajectory tracking using pid cascade control |
| topic | TL500 Aeronautics |
| url | http://irep.iium.edu.my/62296/ http://irep.iium.edu.my/62296/ http://irep.iium.edu.my/62296/ http://irep.iium.edu.my/62296/7/62296-Quadrotor%20trajectory%20tracking%20using%20PID%20cascade%20control.pdf http://irep.iium.edu.my/62296/8/62296-Quadrotor%20trajectory%20tracking%20using%20PID%20cascade%20control-SCOPUS.pdf |