Control Methods Comparison for the Real Quadrotor on an Innovative Test Stand
This article is a continuation of our previously published work that presented a comparison of nine attitude quaternion-based controllers of the quadrotor in simulation environment. In this article, the best three controllers were implemented into the real quadrotor. Namely proportional derivative (...
Main Authors: | , , , , , |
---|---|
Format: | Article |
Language: | English |
Published: |
MDPI AG
2020-03-01
|
Series: | Applied Sciences |
Subjects: | |
Online Access: | https://www.mdpi.com/2076-3417/10/6/2064 |
id |
doaj-77e06210780e4f29bdd1fa6ad9c3d5ba |
---|---|
record_format |
Article |
spelling |
doaj-77e06210780e4f29bdd1fa6ad9c3d5ba2020-11-25T01:54:15ZengMDPI AGApplied Sciences2076-34172020-03-01106206410.3390/app10062064app10062064Control Methods Comparison for the Real Quadrotor on an Innovative Test StandAnežka Chovancová0Tomáš Fico1František Duchoň2Martin Dekan3Ľuboš Chovanec4Martina Dekanová5Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak Univerzity of Technology, Vazovova 5, 812 43 Bratislava, SlovakiaInstitute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak Univerzity of Technology, Vazovova 5, 812 43 Bratislava, SlovakiaInstitute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak Univerzity of Technology, Vazovova 5, 812 43 Bratislava, SlovakiaInstitute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak Univerzity of Technology, Vazovova 5, 812 43 Bratislava, SlovakiaInstitute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak Univerzity of Technology, Vazovova 5, 812 43 Bratislava, SlovakiaInstitute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak Univerzity of Technology, Vazovova 5, 812 43 Bratislava, SlovakiaThis article is a continuation of our previously published work that presented a comparison of nine attitude quaternion-based controllers of the quadrotor in simulation environment. In this article, the best three controllers were implemented into the real quadrotor. Namely proportional derivative (PD), linear quadratic regulator (LQR) and backstepping quaternion-based control techniques were evaluated. As a suitable test stand was not available on the basis of literature analysis, the article also outlines the requirements and the development of a new innovative test stand. In order to provide a comprehensive overview, the hardware and software that was used is also presented in the article. The main contribution of this article is a performance comparison of the controllers, which was based on absolute quaternion (positioning) error and energy consumption.https://www.mdpi.com/2076-3417/10/6/2064backsteppinglqrpd controllerquadrotortest stand |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Anežka Chovancová Tomáš Fico František Duchoň Martin Dekan Ľuboš Chovanec Martina Dekanová |
spellingShingle |
Anežka Chovancová Tomáš Fico František Duchoň Martin Dekan Ľuboš Chovanec Martina Dekanová Control Methods Comparison for the Real Quadrotor on an Innovative Test Stand Applied Sciences backstepping lqr pd controller quadrotor test stand |
author_facet |
Anežka Chovancová Tomáš Fico František Duchoň Martin Dekan Ľuboš Chovanec Martina Dekanová |
author_sort |
Anežka Chovancová |
title |
Control Methods Comparison for the Real Quadrotor on an Innovative Test Stand |
title_short |
Control Methods Comparison for the Real Quadrotor on an Innovative Test Stand |
title_full |
Control Methods Comparison for the Real Quadrotor on an Innovative Test Stand |
title_fullStr |
Control Methods Comparison for the Real Quadrotor on an Innovative Test Stand |
title_full_unstemmed |
Control Methods Comparison for the Real Quadrotor on an Innovative Test Stand |
title_sort |
control methods comparison for the real quadrotor on an innovative test stand |
publisher |
MDPI AG |
series |
Applied Sciences |
issn |
2076-3417 |
publishDate |
2020-03-01 |
description |
This article is a continuation of our previously published work that presented a comparison of nine attitude quaternion-based controllers of the quadrotor in simulation environment. In this article, the best three controllers were implemented into the real quadrotor. Namely proportional derivative (PD), linear quadratic regulator (LQR) and backstepping quaternion-based control techniques were evaluated. As a suitable test stand was not available on the basis of literature analysis, the article also outlines the requirements and the development of a new innovative test stand. In order to provide a comprehensive overview, the hardware and software that was used is also presented in the article. The main contribution of this article is a performance comparison of the controllers, which was based on absolute quaternion (positioning) error and energy consumption. |
topic |
backstepping lqr pd controller quadrotor test stand |
url |
https://www.mdpi.com/2076-3417/10/6/2064 |
work_keys_str_mv |
AT anezkachovancova controlmethodscomparisonfortherealquadrotoronaninnovativeteststand AT tomasfico controlmethodscomparisonfortherealquadrotoronaninnovativeteststand AT frantisekduchon controlmethodscomparisonfortherealquadrotoronaninnovativeteststand AT martindekan controlmethodscomparisonfortherealquadrotoronaninnovativeteststand AT luboschovanec controlmethodscomparisonfortherealquadrotoronaninnovativeteststand AT martinadekanova controlmethodscomparisonfortherealquadrotoronaninnovativeteststand |
_version_ |
1724988342393634816 |