Open AccessHovering control algorithm validation for a mobile platform using an experimental test bench
Author(s) -
Sergey Jatsun,
Oksana Emelyanova,
Б. В. Лушников,
Andres Santiago Martinez Leon,
Luis Miguel Mosquera Morocho,
Alexandr Pechurin,
Corso Sarmiento
Publication year - 2021
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/1027/1/012008
Subject(s) - quadcopter , arduino , test bench , microcontroller , computer science , process (computing) , control (management) , pid controller , code (set theory) , algorithm , simulation , control engineering , embedded system , engineering , artificial intelligence , operating system , temperature control , programming language , set (abstract data type) , aerospace engineering
This paper deals with the validation of a hovering control algorithm for a mobile aerial platform executed on a quadcopter pattern. In order to test and evaluate the proposed hovering algorithm in a safe and controllable environment conditions, an experimental test bench has been introduced. As part of the hovering control algorithm implementation process, a brief description of the dynamics and control laws of the quadcopter is presented. The considered control technique in this paper is based on PID control method. A program code has been written using Arduino IDE based on Arduino UNO microcontroller. A description of the conducted indoor experiment for the validation of the hovering algorithm, and also the main results of the performed practical experiment are presented