Quadcopter trajectory tracking and attitude control based on euler angle limitation

Billie Pratama, Abdul Muis, Aries Subiantoro, Mohamed Djemai, Rabie Ben Atitallah

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

The aim of this paper is to build a trajectory tracking system considering the attitude of the quadrotor. Nowadays, quadcopter is often used for taking landscape pictures. The roll pitch Euler angle of the quadcopter greatly affects the resulting pictures so that it needs to be controlled. As a limitation, the roll pitch Euler angle based on inertial reference frame is not allowed to be more than fifteen degrees. Two main factors that affect the Euler angle of quadcopter are velocity and acceleration. Therefore, the velocity and acceleration of the UAV is maintained. A linear regression method is used to determine the velocity and acceleration reference that affect the resulting Euler angle. PID (Proportional, Integral, Derivative) controller is used as the controller method for the tracking control system. Finally, the trajectory tracking and attitude control is evaluated through simulation with ROS and Gazebo.

Original languageEnglish
Title of host publication2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018
EditorsDogan Onur Arisoy, Seref Naci Engin, Muhammed Ali Oz
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538676417
DOIs
Publication statusPublished - 1 Oct 2018
Event6th International Conference on Control Engineering and Information Technology, CEIT 2018 - Istanbul, Turkey
Duration: 25 Oct 201827 Oct 2018

Publication series

Name2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018

Conference

Conference6th International Conference on Control Engineering and Information Technology, CEIT 2018
Country/TerritoryTurkey
CityIstanbul
Period25/10/1827/10/18

Keywords

  • Attitude control
  • Euler angle
  • Gazebo
  • PID
  • Quadcopter
  • ROS
  • Trajectory tracking

Fingerprint

Dive into the research topics of 'Quadcopter trajectory tracking and attitude control based on euler angle limitation'. Together they form a unique fingerprint.

Cite this