engleski

Quadcopter altitude control in low level hovering using PID controller

Owing to rapid development of hardware components and simultaneous reduction in prices, Unmanned Ariel Vehicles (UAVs) are becoming ubiquitous including performing some of the smart city services. Quadcopters are one class of UAVs which has particularity seen rapid growth due to its versatility and good performance characteristics. Since it is inherently unstable and hard to stabilize by human operator (manual control), it has to have controllers for the attitude stabilization. However, often altitude stabilization around desired height is not implemented. Thus this paper addresses that issue by developing PID based controller with integral anti-wind up feature for low altitude hovering. Lowe altitude is a constraint since control is based on ultrasonic measurements which have limited range. The approach is tested on AR.Drone 1.0 machine and obtained results are presented and discussed.

PID, hovering, altitude, UAV, LabVIEW

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