Paper Info
Title
Comparison of PD, PID and Sliding-Mode Position Controllers for V-Tail Quadcopter Stability.
Abstract
In this paper, a comparison of PD, PID, and SMC position controllers for a V-tail quadcopter is presented. First, a customized design of the V-tail quadcopter is shown to know the parameters of this structure and compare them with the commonly x structure quadcopter used in most papers. Then, the dynamic analysis of the V-tail quadcopter using the Newton x Euler formulation is presented. The main contribution of this paper remains in the design and Lyapunov stability analysis of the PD, PID, and SMC position controllers for the V-tail quadcopter because the robot manipulator methodology was used, treating the V-tail quadcopter as a robot manipulator. The simulation results validate the proposed controllers and algorithms for the V-tail quadcopter when the three controllers reach the desired position. Also, a non-conventional variable is introduced to study the stability analysis of unmanned aerial vehicles when controlled by PID position controller. Finally, a comparison between the three designed controllers for the V-tail quadcopter is presented, where the differences between each can be appreciated. So that, for the first time, three controllers for the V-tail quadcopter designed using the robot manipulator theory is presented.
Year
DOI
Venue
2018
10.1109/ACCESS.2018.2851223
IEEE ACCESS
Keywords
Field
DocType
V-tail quadcopter,PID controller,PD controller,sliding-mode controller,Lyapunov stability analysis
Control theory,PID controller,Control theory,Computer science,V-tail,Quadcopter,Lyapunov stability,Vehicle dynamics,Robot manipulator,Distributed computing
Journal
Volume
ISSN
Citations 
6
2169-3536
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Jose J. Castillo-Zamora100.34
Karla Anhel Camarillo-Gómez201.69
Gerardo I. Pérez-Soto300.68
J. Rodriguez-Resendiz4248.71