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Intelligent Systems: Models and Applications pp 115–134Cite as

Qualitative Evaluation of Flight Controller Performances for Autonomous Quadrotors

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Part of the book series: Topics in Intelligent Engineering and Informatics ((TIEI,volume 3))

Abstract

The paper regards to benchmarking and qualitative evaluation of different autonomous quadrotor flight controllers. Three characteristic representatives of frequently used flight control techniques are considered: PID, backstepping and fuzzy. The paper aims to contribute to the objective assessment of quadrotor control performances with respect to the criteria regarding to dynamic performances, trajectory tracking precision, energy efficiency and control robustness upon stochastic internal and/or external perturbation. Qualitative evaluation of the closed-loop system performance should enable the best choice of microcopter control structure. Non-linear modeling, control and numerical simulation of two characteristic flight test-scenarios (indoor as well as outdoor) are described in the paper, too. Obtained simulation results for three representative control algorithms are graphically and table presented, analyzed and discussed.

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Author information

Authors and Affiliations

  1. Robotics Laboratory, Mihajlo Pupin Institute, Volgina 15, 11060, Belgrade, Serbia

    Aleksandar Rodić & Ivan Stojković

  2. Faculty of Engineering, University of Szeged, 6725, Szeged, Moszkvai krt. 5-7, Hungary

    Gyula Mester

Authors
  1. Aleksandar Rodić
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  2. Gyula Mester
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  3. Ivan Stojković
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Corresponding author

Correspondence to Aleksandar Rodić .

Editor information

Editors and Affiliations

  1. , Faculty of Sciences and Mathematics, University of Novi Sad, Trg Dositeja Obradovica 4, Novi Sad, 21000, Serbia

    Endre Pap

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Rodić, A., Mester, G., Stojković, I. (2013). Qualitative Evaluation of Flight Controller Performances for Autonomous Quadrotors. In: Pap, E. (eds) Intelligent Systems: Models and Applications. Topics in Intelligent Engineering and Informatics, vol 3. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33959-2_7

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  • DOI: https://doi.org/10.1007/978-3-642-33959-2_7

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33958-5

  • Online ISBN: 978-3-642-33959-2

  • eBook Packages: EngineeringEngineering (R0)

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