Comparison of trajectory tracking flight controllers in position and heading for multicopter
Publication date
2023-07-25
Document type
Konferenzbeitrag
Author
Organisational unit
Conference
31st Mediterranean Conference on Control and Automation (MED) ; Limassol, Cyprus ; June 26–29, 2023
Publisher
IEEE
Book title
2023 31st Mediterranean Conference on Control and Automation (MED)
First page
189
Last page
195
Part of the university bibliography
✅
Language
English
Keyword
dtec.bw
Abstract
This paper presents a comparison of three different control approaches for UAS flight controllers. A cascaded PID structure from Pixhawk, an energy-based controller and an incremental nonlinear dynamic inversion approach are implemented in a simulation environment based on MATLAB. The precision in position and heading angle, the required flight and calculation time and the effort to implement the algorithms are taken into account. Further, the results are evaluated for the specific UAS use cases of an infrastructure inspection and the drop-off of a sensor.
Version
Published version
Access right on openHSU
Metadata only access