The system also consists of IMU (Inertial Measurement Unit) which consists of accelerometer and gyro sensors to determine the system orientation and speed control of four motors to enable the quadcopter fly. These position and trajectory controllers calculate the reference angles required to direct the thrust necessary to control the quadcopters movement. The position controller maintains a constant position, while the trajectory controller maintains a constant velocity while travelling along a straight line. Filters have been implemented and developed to estimate the position, velocity and acceleration. A GPS module, GPS antenna and a lidar have been added to measure the position in three dimensions. The quadcopter was originally equipped with sensors and software to estimate and control the quadcopters orientation, but did not estimate the current position. School of Automation and Electrical Enginering Tianjin University of Technology and Education, Tianjin 300222,P.R.China.Ībstract This work presents the stabilization of a quadcopter by using PID controllers to regulate its four basic movements: roll, pitch, yaw angles, and altitude. ![]() ![]() Tianjin Key Laboratory of Information sensing and Intelligent control Controlling Quadcopter Altitude using PID-Control System
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