Design of controllers applied to autonomous unmanned aerial vehicles using software in the loop
Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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Design of controllers applied to autonomous unmanned aerial vehicles using software in the loop. / Silva, D. H.C.; Santos, M. F.; da Silva, Mathaus Ferreira et al.
Proceedings of the 2019 20th International Carpathian Control Conference, ICCC 2019. Hrsg. / Andrzej Kot; Agata Nawrocka. IEEE - Institute of Electrical and Electronics Engineers Inc., 2019. 8766036 (Proceedings of the 2019 20th International Carpathian Control Conference, ICCC 2019).Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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RIS
TY - CHAP
T1 - Design of controllers applied to autonomous unmanned aerial vehicles using software in the loop
AU - Silva, D. H.C.
AU - Santos, M. F.
AU - da Silva, Mathaus Ferreira
AU - Neto, A. F.S.
AU - Mercorelli, P.
N1 - Conference code: 20
PY - 2019/5/1
Y1 - 2019/5/1
N2 - This paper presents the design of the altitude controller of Unmanned Aerial Vehicle (UAV) based on the data acquired from the Software in the Loop (SITL). More specifically, the developed methodology permits to describe a test procedure where an algorithm or even a control strategy can be designed and validated based on the physical model of the system. In this way, the PID controller with a technique known as Successive Loop Closure is designed. The paper also shows how to establish a remote communication with the quadcopter using all the versatility of the Software in the Loop (SITL) in combination with a Ground Control Station and Dronekit developing tool. Finally, the flight simulation tests show that the designed controller was able to reach a stable flight with its performance evaluated through non-intrusive performance indexes and analysis of the system response in the time domain.
AB - This paper presents the design of the altitude controller of Unmanned Aerial Vehicle (UAV) based on the data acquired from the Software in the Loop (SITL). More specifically, the developed methodology permits to describe a test procedure where an algorithm or even a control strategy can be designed and validated based on the physical model of the system. In this way, the PID controller with a technique known as Successive Loop Closure is designed. The paper also shows how to establish a remote communication with the quadcopter using all the versatility of the Software in the Loop (SITL) in combination with a Ground Control Station and Dronekit developing tool. Finally, the flight simulation tests show that the designed controller was able to reach a stable flight with its performance evaluated through non-intrusive performance indexes and analysis of the system response in the time domain.
KW - Dronekit
KW - PID Controller
KW - Software in The Loop
KW - Successive Loop Closure
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=85069815467&partnerID=8YFLogxK
U2 - 10.1109/CarpathianCC.2019.8766036
DO - 10.1109/CarpathianCC.2019.8766036
M3 - Article in conference proceedings
T3 - Proceedings of the 2019 20th International Carpathian Control Conference, ICCC 2019
BT - Proceedings of the 2019 20th International Carpathian Control Conference, ICCC 2019
A2 - Kot, Andrzej
A2 - Nawrocka, Agata
PB - IEEE - Institute of Electrical and Electronics Engineers Inc.
T2 - 20st International Carpathian Control Conference - ICCC 2019
Y2 - 26 May 2019 through 29 May 2019
ER -