ANZCC 2019 Paper Abstract


Paper TC1.1

Zhu, Yuankang (RMIT University), Wang, Liuping (RMIT University), Poksawat, Pakorn (RMIT University)

Cascade Attitude Control of Hexacopter with PI and Disturbance Estimation

Scheduled for presentation during the Regular Session "Control Applications" (TC1), Thursday, November 28, 2019, 15:45−16:00, WZ Building Room WZ416

2019 Australian & New Zealand Control Conference (ANZCC), November 27-29, 2019, Auckland, New Zealand

This information is tentative and subject to change. Compiled on September 25, 2020

Keywords Control Applications, Estimation, Robotics


Unmanned Aerial Vehicles (UAVs), known as drones and quadcopters, have been widely used in military and civilian usages, including filming, fields of delivery, national defense and mission enforcement. This paper deals with proportional and integral(PI) control of a hexacopter in cascaded structure with observer estimation. The inner-loop control systems use PI controllers while the outer-loop control systems use proportional control with an estimator for the turbulent disturbance. Experimental results have shown the validity of the proposed method.



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