Quadrotor Control Simulation with Multirate Integration Methods

Resumen: In this paper, we apply multirate integration methods for quadrotor simulation. Models described by ordinary differential equations can be separated by slow and fast dynamics that can be solved by numerical strategies tailored to such dynamics. Multirate methods take advantage of this fact to integrate the slow subsystem with a larger step than the fast one, which saves computational effort. We compare execution times and errors of the multirate strategies with the traditional Runge-Kutta method. Moreover, we deploy a multirate scheme in a control application and present simulation results.

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Antonio Matus-Vargas, Gustavo Rodriguez-Gomez & Jose Martinez-Carranza. Quadrotor Control Simulation with Multirate Integration Methods. Memorias del Congreso Nacional de Control Automático, pp. 195-200, 2019.

Palabras clave

Robótica y Mecatrónica, Cómputo para Control, Tecnología para Control

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