Stability Control of an Autonomous Quadcopter （自治四轴飞行器的稳定控制）.pdfVIP

N. Ives Roque Pacheco et al. Int. Journal of Engineering Research and Application ISSN : 2248-9622, Vol. 5, Issue 5, ( Part -4) May 2015, pp.07-10 RESEARCH ARTICLE OPEN ACCESS Stability Control of an Autonomous Quadcopter through PID Control Law Nicolas Ives Roque Pacheco*, Daniel de Castro Ribeiro Resende **, Pedro Américo Almeida Magalhães*** *( Graduate of Mechatronic Engineering, Pontificia Universidade Católica de Minas Gerais, Brazil) ** (Graduate of Mechatronic Engineering, Pontificia Universidade Católica de Minas Gerais, Brazil) ***(Department of Mechanical Engineering, Pontificia Universidade Católica de Minas Gerais, Brazil) ABSTRACT In the recent years the world has seen a astonishing ascendance of non tripulated vehicles, and among these is the quadrotors aircrafts or quadcopters. These types of aircraft have been of particular interest due to its easy maneuverability in closed and open spaces and somewhat simplified dynamics. In these paper is presented an first attempt in the built model, to control the 4 DOF(Degrees of freedom) of an soon to be autonomous quadcopter through PID law in an controlled environment. Keywords –Quadcopter, PID law, Autonomous flight I. Introduction space. Although the quadcopter can perform all of The first quadcopter model to be developed was these actions, it’s inputs are limited to four, being called the Breguet-Richet aircraft dated from1907. these the lift produced by each rotor, making the This mechanism was a simple cross structure (fig.1) quadrotor a sub-actuated system. Beyond