3 ms·
incorrect, most serious "PID controllers" for quadrotors are using geometric PID controllers that take nonlinearity into account, e.g. [1]. [1] Taeyoung Lee, M
by blt 3y ago
incorrect, most serious "PID controllers" for quadrotors are using geometric PID controllers that take nonlinearity into account, e.g. [1].
[1] Taeyoung Lee, Melvin Leok, N. Harris McClamroch. Geometric tracking control of a quadrotor UAV on SE(3). https://ieeexplore.ieee.org/abstract/document/5717652 https://ieeexplore.ieee.org/abstract/document/5717652
- ducktective 3y agoWell geometric PID controllers are not vanilla PID controllers for LTI systems that I was talking about... Also, and correct me if I'm wrong, I think in industry these vanilla PD/PID controllers are used for attitude and position control of quad-copters. Like, I don't think PX4 or BetaFlight implement any geometric controllers in their code bases.
- blt 3y agoPX4 does: https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_att_control/AttitudeControl/AttitudeControl.cpp https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/m...