Implementation of a PID-based partially stabilized control system for the X4-Flyer

Added Title

Annual Conference on Mechatronics and Machine Vision in Practice (12th : 2005)

College

College of Computer Studies

Department/Unit

Computer Technology

Document Type

Conference Proceeding

Source Title

12th Annual Conference on Mechatronics and Machine Vision in Practice, M2VIP 2005

First Page

78

Last Page

84

Publication Date

12-12-2005

Abstract

The X4-Flyer, sometimes referred to as a Quadrotor, is a four-rotor aircraft with an X-shaped airframe capable of interrelated pitch, yaw and roll maneuverability. Current research has focused on mathematical models of the dynamics offered by the unique airframe as well as control systems targeted at providing the craft with dynamic and stationary stability. Despite the growing body of research, there is very little information on actual controller implementations. The modelling and the implementation details of a Proportional-Integral-Differential (PID) control system achieving short-term quasi-stationary hover capabilities is shown in this paper. Three semiconductor inertial gyroscopes provide the necessary feedback to the controller in the system. Due to vibration transmissions from the rotor motors to the centrally-located controller, large amounts of noise buries important small-scale sensor information. The control system uses a combination of electronic amplification, Finite-Impulse Response filtering and averaging to achieve the necessary signal conditioning and sensitivity for the feedback to be effective. The controller settles within 2.5 seconds when perturbed by a slight tipping of the motor body in quasi-stationary hover. An oscillatory body rotation error limited by the controller to two to three degrees at a frequency of 1/10th Hertz was observed.

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Disciplines

Artificial Intelligence and Robotics

Keywords

Autonomous robots; Mobile robots; Robotics

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