IIUM Repository

Quadrotor trajectory tracking using PID cascade control

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.

[img] PDF - Published Version
Restricted to Registered users only

Download (1MB) | Request a copy
[img] PDF (SCOPUS) - Supplemental Material
Restricted to Registered users only

Download (34kB) | Request a copy


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

Item Type: Conference or Workshop Item (Plenary Papers)
Additional Information: 5827/62296
Uncontrolled Keywords: Cascade control, Model parameters, Path tracking problem, Proportional integral derivatives, Three-dimensional environment, Tracking performance, Trajectory tracking, Weather monitoring
Subjects: T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL500 Aeronautics
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): Kulliyyah of Engineering > Department of Mechanical Engineering
Depositing User: Dr Moumen Idres
Date Deposited: 28 Feb 2018 10:05
Last Modified: 26 Jun 2018 16:53
URI: http://irep.iium.edu.my/id/eprint/62296

Actions (login required)

View Item View Item


Downloads per month over past year