Cascade PD controller gains selection for Quadrotor

Abstract

A dynamic model of quadrotor has been used to derive relationship between objectives like settling time and overshoot with gains. A simple gains selection method has been proposed for Quadrotor cascade PD controller. The dynamic model verification has been carried out by comparing simulation results with experimental results available in literature.Various tests like point to point and trajectory tracking control are performed for validating proposed methodology. The performance is satisfactory as error is less than 3% of expected settling time. The present study eliminates trials for obtaining satisfactory performance of cascade PD controller.