tailieunhanh - Results and comparision between different control algorithms for a quadrotor using ArduPilot framework

This article presents a simple way to test the behavior of various control algorithms, with the quadrotor as the control target and ArduPilot is the framework to create the firmware carrying multi controllers. | SCIENCE & TECHNOLOGY DEVELOPMENT, Vol 18, 2015 Results and comparision between different control algorithms for a quadrotor using ArduPilot framework Nguyen Anh Quang1 Emmanuel Grolleau2 Ngo Khanh Hieu1 1 Ho Chi Minh City University of Technology,VNU-HCMUT 2 LIAS, ISAE – ENSMA, France (Manuscript Received on July 13th, 2015; Manuscript Revised October 16th, 2015) ABSTRACT: Determining the most suitable control algorithm for a system is not an easy task. In theory, each controller has its own advantages and disadvantages comparing to the others. However, in the real world, the behavior of the controller also depends on many other factors such as the calculating ability of the control board, the accuracy of the sensors, the way the hardware communicate with the others, etc. In order to find the pros and cons of each control algorithm in the real world, each of them has to be tested and then comparing their results. This article presents a simple way to test the behavior of various control algorithms, with the quadrotor as the control target and ArduPilot is the framework to create the firmware carrying multi controllers. At the end of this article, the results of 3 control algorithms: Original PID of ArduPilot, new developed PID and Integral Backstepping will be presented and compared. These data is created by using Software In The Loop simulation (SITL), a tool provided by ArduPilot to test the new developed firmware. Key words: ArduPilot, control algorithm, quadrotor, PID, Integral Backstepping 1. INTRODUCTION Quadrotor is a six degree of freedoms system which is only controlled by four fixedpitch equally-space rotors. In other words, even though the mechanically design is simple [1], this flying system is underactuated. The calculating for controlling this system will therefore be complicated. In theory, there are several control algorithms which is suitable for a quadrotor such as PID, Adaptive Control, Integral Backstepping [2], nonlinear H∞