Quadrotors have been applied to collect information for traffic, weather monitoring, surveillance and aerial photography. In order to accomplish their mission, quadrotors have to follow specific trajectories. This paper presents proportional-integral-derivative (PID) cascade control of a quadrotor for path tracking problem when velocity and acceleration are small. It is based on near hover controller for small attitude angles. The integral of time-weighted absolute error (ITAE) criterion is used to determine the PID gains as a function of quadrotor modeling parameters. The controller is evaluated in three-dimensional environment in Simulink. Overall, the tracking performance is found to be excellent for small velocity condition. IntroductionRecently, a growing interest in unmanned aerial vehicles (UAVs) has been shown among the research community. Quadcopters are flying vehicles that can be equipped with cameras and sensors to perform many complex tasks. Due to their high maneuverability and small size, quadrotors have been widely used. Their potential applications include search-and-rescue, homeland security, military surveillance, and earth sciences [1][2][3]. In general, quadrotors are naturally unstable, under-actuated, under damped, coupled and nonlinear systems that need to be controlled. Several control techniques can be utilized to control a quadrotor including proportional-integral-derivative (PID) [4,5], linear quadratic regulator (LQR) [6], and backstepping and sliding mode control [7,8]. Because of its simple structure and good stability, PID plays an important role in quadrotor control.In this study, a PID controller is used for attitude and position control. Assuming small acceleration and small attitude angles, the corresponding control laws are derived. A Simulink model is developed where the performance of the controller is tested for different path-tracking cases.
Securing information system (IS) has become a critical concern within many sectors of business organisations with significant resources being devoted to the control of security threats. Recently, it has been discovered that incorporating security at the time of development is the best option for having a robust system. This study explores factors that motivate IS owner’s willingness to pay extra cost for a secure software development and validates the relationships among the various variables. Enhanced Technology Acceptance Model (TAM) was used to investigate the factors that influences IS owner’s willingness to pay extra cost for secured software development. Out of all the constructs considered, Self-Efficacy (SE) is found to be significant (β= 0.617, P<0.05) which suggests that self-efficacy is useful for investigating willingness to pay for a secure software development. In addition, the strength of the linear association between Self-Efficacy and Behavioural Intention (BI) (R2 =0.354) implies that Self Efficacy has direct moderate impact on Behavioural Intention to pay extra cost for a secure software development.
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