期刊
IEEE ACCESS
卷 6, 期 -, 页码 38086-38096出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2018.2851223
关键词
V-tail quadcopter; PID controller; PD controller; sliding-mode controller; Lyapunov stability analysis
资金
- CONACyT of Mexico
- PRODEP of Mexico
In this paper, a comparison of PD, PID, and SMC position controllers for a V-tail quadcopter is presented. First, a customized design of the V-tail quadcopter is shown to know the parameters of this structure and compare them with the commonly x structure quadcopter used in most papers. Then, the dynamic analysis of the V-tail quadcopter using the Newton x Euler formulation is presented. The main contribution of this paper remains in the design and Lyapunov stability analysis of the PD, PID, and SMC position controllers for the V-tail quadcopter because the robot manipulator methodology was used, treating the V-tail quadcopter as a robot manipulator. The simulation results validate the proposed controllers and algorithms for the V-tail quadcopter when the three controllers reach the desired position. Also, a non-conventional variable is introduced to study the stability analysis of unmanned aerial vehicles when controlled by PID position controller. Finally, a comparison between the three designed controllers for the V-tail quadcopter is presented, where the differences between each can be appreciated. So that, for the first time, three controllers for the V-tail quadcopter designed using the robot manipulator theory is presented.
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