Intelligent State Estimator and Controller Design of an Autonomous Drone
In this paper, we introduce the coordinate system of the drone and analyze the kinetic equations of the quadrotor through the position, linear velocity, angle and angular velocity according to the coordinate system. We used these to model the controller and intelligent state estimator. Based on the modeling, we design a Proportional Integral Derivative (PID) controller and determine which state variables to use as a control input in the drone that has 6 degrees of freedom (DOF) but requires 4 DOF as input to the four rotors. In the experimental part, the controller and the autonomous algorithm are combined. And the process of estimating the state of the drone according to the external signal coming through the image processing and the machine recognition and proceeding the algorithm sequentially will be examined. Finally, we will observe the advantages of this controller.
Indexterms- Autonomous Drone, State Estimator, PID Controller, DOF, Modeling