One-dimensional PD controller

Summary

When the UAV is running, we may expect the UAV to fly along a predetermined path. But the actual flight path will always deviate from the original path more or less. Naturally, the urgent problem is, how do we control the aircraft to make its flight path accurate and stable?

It is not difficult to imagine that the general idea of the solution can be this: we track and measure the real-time path through the sensor at all times, then compare the collected data with the reference value, calculate the deviation between them, and then adjust the power output according to this error, so that the error can be corrected. In other words, the whole control loop will include three main parts:

1.Sensor measures real-time data

2.The controller makes a decision

3.The output device responds.

A very common control loop in control application is the PD controller to be introduced here, which is named after two correction algorithms: the PD controller is composed of a Proportional unit and a Derivative unit, and the controlled variable is the result of the addition of the proportional algorithm and the differential algorithm.