The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Triple Nested PID Controller based on Sensor Fusion for Quadrotor Attitude Stabilization

쿼드로터 자세 안정화를 위한 센서융합 기반 3중 중첩 PID 제어기

  • Cho, Youngwan (Dept. of Computer Engineering, Seokyeong University)
  • Received : 2018.05.15
  • Accepted : 2018.06.03
  • Published : 2018.07.01
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Abstract

In this paper, we propose a triple nested PID control scheme for stable hovering of a quadrotor and propose a complementary filter based sensor fusion technique to improve the performance of attitude, altitude and velocity measurement. The triple nested controller has a structure in which a double nested attitude controller that has the angular velocity PD controller in inner loop and the angular PI controller in outer loop, is nested in a velocity control loop to enable stable hovering even in the case of disturbance. We also propose a sensor fusion technique by applying a complementary filter in order to reduce the noise and drift error included in the acceleration and gyro sensor and to measure the velocity by fusing image, gyro, and acceleration sensor. In order to verity the performance, we applied the proposed control and measurement scheme to hovering control of quadrotor.

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References

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