Quadrotor Roll & Pitch Axis Lead Compensation (PID)1 min read

Quadrotor Roll & Pitch Axis Lead Compensation (PID)1 min read

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In the last post I simplified the model to arrive at a transfer function representing the roll and pitch axes independently for our ‘+’ shaped quadrotor.

The following video explains how we stabilize this inherently unstable system. The PDF that follows is produced from the Maple document I review in the video.

This, “lead-compensator” design represents the ‘P’ & ‘D’ relative to the PID acronym for Proportional-Integral-Derivative control.

 

Classical_Roll_Axis_Model