Castillo Zamora, Jose de Jesus (University Paris Saclay & IPSA), Hernández-Díez, José Enrique (Universidad Autónoma de San Luis Potosí), Boussaada, Islam (University Paris Saclay & IPSA), Escareno Castro, Juan Antonio (XLIM Research Institute, University of Limoges), Alvarez Muñoz, Jonatan Uziel (EXTIA)

A Preliminary Parametric Analysis of PID Delay-Based Controllers for Quadrotor UAVs

Scheduled for presentation during the Regular Session "Fault-Tolerant Control" (WeA1), Wednesday, June 16, 2021, 11:30−11:50, Macedonia Hall

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 20, 2024

Abstract

The actual paper provides a set of parametric stability charts considering a quadrotor rotorcraft performing stabilizing maneuvers under the presence of feedback time-delays and subjected to PID controllers. The analysis considers the couplings between the translational (slow dynamics) and the rotational (fast dynamics) motions. The parameters of the controllers, within the overall control scheme, are computed using the well-known stability crossing roots theory. Numerical simulation results, including the full dynamic model and the corresponding linear model of the vehicle, are presented to validate the proposal.