Quadrotors in factory applications: design and implementation of the quadrotor’s P-PID cascade control system: Modeling and implementation

Abstract

This paper describes the current legal framework and regulations applied to industrial drone’s flights established by different countries as a set point on drones design and applications. We present a mathematical approach used to build the structure of an attitude controller for a quadcopter (drone) as to answer the question of ’How to implement an attitude controller on a quadcopter for indoor and outdoor flights as a step forward to support the safety features in factory applications’. The control system was designed for a quadcopter on ’× ’ configuration, which allows it to have six degrees of freedom (6DOF) of movement, while commanded by four inputs given by the radio controller (R/C). Accelerometers and gyroscopes were used in order to obtain the data related to the drone’s behavior during the flight to be able to control it. A cascade controller P-PID was implemented in order to control the system and reach the stability as well as in indoor or outdoor flights. The theories presented in this paper were analyzed and proved on a real model resulting in the desired flying behavior.