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6 May 2022 Trajectory tracking control of quadrotor UAV based on T265 positioning
Lvzhao Bai, Jianshu Liang, LinLin Zhang
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Proceedings Volume 12176, International Conference on Algorithms, Microchips and Network Applications; 121761Z (2022) https://doi.org/10.1117/12.2636429
Event: International Conference on Algorithms, Microchips, and Network Applications 2022, 2022, Zhuhai, China
Abstract
Four rotor unmanned aerial vehicle (UAV) control of the bottom of society, this article is based on the cascade PID algorithm with the improved design and double closed-loop position controller and attitude controller, the outer ring of position and attitude controller adopts hyperbolic tangent function as the position loop, position controller of the PID as the inner ring speed ring, inner ring USES the intelligent PID control algorithm as angular velocity loop. In this paper, detailed steps of UAV modelling are given, and experiments are carried out on ROS, PX4 and Prometheus. In the experiments, the algorithm is verified and compared with traditional PID and cascade PID control algorithms. The experimental results show that the double closed-loop intelligent controller designed in this paper can ensure the flight stability of the quadrotor UAV and the accuracy of the trajectory tracking, and has a certain anti-interference ability.
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Lvzhao Bai, Jianshu Liang, and LinLin Zhang "Trajectory tracking control of quadrotor UAV based on T265 positioning", Proc. SPIE 12176, International Conference on Algorithms, Microchips and Network Applications, 121761Z (6 May 2022); https://doi.org/10.1117/12.2636429
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KEYWORDS
Unmanned aerial vehicles
Mathematical modeling
Control systems
Data modeling
Motion controllers
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