Mini-drone quadrotor altitude control using characteristic ratio assignment PD tuning approach

Abstract

This paper presents PD tuning approach using characteristic ratio assignment (CRA) method for Parrot rolling spider mini-drone quadrotor altitude control system. The aim of this study is to examine the PD controller design and parameter tuning for achieving six degrees of freedom motion control. The CRA technique has been used for determining the proper controller parameters based on the selection of the characteristic polynomial coefficients of the closed loop system conform to the specified the performance criteria. The altitude control simulations applied to Parrot rolling spider mini-drone quadrotor system so that investigated the performance of the proposed controller deign scheme. The results clearly exposed that the control system is fairly stable and out performance, likewise has the effectiveness of controller's parameters adjustability.