Flight control for a quadrotor of attitude control based on android system and using optimal-tuning design

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• 作者：Neng-Sheng Pai^a ; ^{pai@ncut.edu.tw" class="auth_mail" title="E-mail the corresponding author}Author Vitae ; Wei-Cheng Li^aAuthor Vitae ; Min-Hung Chou^bAuthor Vitae ; Pi-Yun Chen^aAuthor Vitae
• 关键词：Quadrotor ; Android system ; Mobile platform ; PID Control ; Sliding Mode Control ; Genetic Algorithm
• 刊名：Computers & Electrical Engineering
• 出版年：2016
• 出版时间：August 2016
• 年：2016
• 卷：54
• 期：Complete
• 页码：170-184
• 全文大小：5403 K

文摘

This paper proposes the research and development of an Android-based mobile platform with a quadrotor control and quadrotor flight controller. The proposed Android-based mobile platform has the following advantages: (1) with Android remote controller has a bidirectional transmission function, which can transmit flight directives to the quadrotor and receive the feedback information to achieve the desired control. Additionally, the Android remote controller is designed on a mobile platform for convenient carrying. (2) The flight controller is designed with Proportional Integral Derivative (PID) Control and Sliding Mode Control methods to obtain optimum operations. Finally, parameters of optimum control are built and implemented by using Genetic and Tabu Search Algorithms. Experimental results are presented to verify the performance and the feasibility of the proposed Android-based mobile platform with a quadrotor control and quadrotor flight controller.