Altitude and attitude cascade controller for a smartphone-based quadcopter

Real Time Optimal Tuning of Quadcopter Attitude Controller Using Particle Swarm Optimization

“…However, the tuning of the PID controller may present challenges as it has to provide effective quadcopter dynamical behavior around the balance point. Several researchers have successfully used particle swarm optimization (PSO) based techniques to tune the PID controller parameters during the design stage or as an offline experimental technique; interested readers can consult the following recent references [25][26][27]. To achieve the desired performance in practice, an automated search technique that is based on PSO needs to be implemented for tuning the PID controller's gains [34][35][36][37][38][39].…”

“…The outer-loop controllers were designed based on a diversity of controllers while the inner-loop controllers were all implemented using a conventional PID control strategy [22][23][24][25].…”

Real-Time UAV Autonomous Localization Based on Smartphone Sensors

“…A smartphone-based photogrammetric UAV system application was developed, through which real-time image, location, and attitude data was obtained using smartphone under both static and dynamic conditions. Then between 2014 and 2018, the phone-based UAV system began to emerge [22,23,24,25]. In 2014, Leichtfried et al [22] presented the SmartCopter system, which is a low-weight and low-cost UAV that can navigate in GPS-denied environments using an off-the-shelf smartphone as its core on-board processing unit.…”

“…In recent years, a growing number of researchers turned to study the micro aerial vehicle (MAV) control problem based on phone sensors. Astudillo et al [24] designed an Android-based cascade PID controller structures to control the altitude and attitude of a quadcopter based on phone sensors. Pedro et al [25] analyzed the accuracy of several localization algorithms in a remote location using smartphones.…”

Fast Model Predictive Control on a Smartphone-based Flight Controller

“…In [4], a motion planning application and a quadrotor control, including visual odometry for mapping, was developed. Moreover, optimal and robust controllers, and a state estimator based on a Kalman filter for a smartphone-based quadrotor were described in [5], while in [6] an attitude and altitude cascade controller for a smartphone-based quadrotor was exposed.…”