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14 June 2023 Research on hovering control system of four rotor UAV in indoor environment
Ran Wu, Wang Chao, Hainan Zhou
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Proceedings Volume 12708, 3rd International Conference on Internet of Things and Smart City (IoTSC 2023）; 127081B (2023) https://doi.org/10.1117/12.2684049
Event: 3rd International Conference on Internet of Things and Smart City (IoTSC 2023）, 2023, Chongqing, China
Abstract
Aiming at the problem of position deviation and low precision of quadrotor UAV in fixed-point hovering in indoor environment, this paper analyzes the flight principle of quadrotor UAV, establishes a quadrotor UAV system model, and simplifies and linearizes the model. At the same time, according to the quadrotor UAV model, the PID control technology is used to design the attitude controller and position controller, and the feedback control system is realized. Finally, the software and hardware platform of the quadrotor UAV is built, and the PID control algorithm is realized. The experimental results show that the attitude angle error is about ± 3 °, and the position error is about ± 2.3cm/s, which achieves a good hovering effect and solves the problem of low indoor fixed-point hovering accuracy of the quadrotor UAV.
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Ran Wu, Wang Chao, and Hainan Zhou "Research on hovering control system of four rotor UAV in indoor environment", Proc. SPIE 12708, 3rd International Conference on Internet of Things and Smart City (IoTSC 2023）, 127081B (14 June 2023); https://doi.org/10.1117/12.2684049
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KEYWORDS
Unmanned aerial vehicles
Control systems
Design and modelling
Control systems design
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