A Simple Attitude Control of Quadrotor Helicopter Based on Ziegler-Nichols Rules for Tuning PD Parameters

Abstract

An attitude control strategy based on Ziegler-Nichols rules for tuning PD (proportional-derivative) parameters of quadrotor helicopters is presented to solve the problem that quadrotor tends to be instable. This problem is caused by the narrow definition domain of attitude angles of quadrotor helicopters. The proposed controller is nonlinear and consists of a linear part and a nonlinear part. The linear part is a PD controller with PD parameters tuned by Ziegler-Nichols rules and acts on the quadrotor decoupled linear system after feedback linearization; the nonlinear part is a feedback linearization item which converts a nonlinear system into a linear system. It can be seen from the simulation results that the attitude controller proposed in this paper is highly robust, and its control effect is better than the other two nonlinear controllers. The nonlinear parts of the other two nonlinear controllers are the same as the attitude controller proposed in this paper. The linear part involves a PID (proportional-integral-derivative) controller with the PID controller parameters tuned by Ziegler-Nichols rules and a PD controller with the PD controller parameters tuned by GA (genetic algorithms). Moreover, this attitude controller is simple and easy to implement.

Wind estimation using quadcopter motion: A machine learning approach

“…To control the quadcopter, we use a feedback linearized PD attitude controller and a saturated PID waypoint navigation controller. This is a common controller for quadcopters [26][27][28]. We hand-tune the gains to achieve a slightly under-damped response with as rapid convergence as possible for the quadcopter model in Section II.…”

Ziegler-Nichols optimization for quadrotor attitude control

“…In (He & Zhao, 2016), the use of genetic algorithms in conjunction with the theory of Ziegler-Nichols (ZN) is presented, but the parameters of the controller PID are not provided. In (He & Zhao, 2014) , a control system for a quadrotor is determined by ZN theory but again without evidence of the parameters used. It is verified that the studies of (He & Zhao, 2016) and (He & Zhao, 2014) consider only unloaded multirotor aircraft.…”

“…In (He & Zhao, 2014) , a control system for a quadrotor is determined by ZN theory but again without evidence of the parameters used. It is verified that the studies of (He & Zhao, 2016) and (He & Zhao, 2014) consider only unloaded multirotor aircraft. The study carried out by (Khodja, Tadjine, Boucherit, & Benzaoui, 2017) applies ZN theory to an empty quadrotor, using an adaptation of the original theory proposed in the study of (Mallesham, Mishra, & Jha, 2011).…”

Hover Position of Quadrotor Based on PD-like Fuzzy Linear Programming

“…Some researchers such as Zefang He and Long Zhao [19] used PID control with Ziegler-Nichols tuning used for quadrotor stability. By using feedback linearization theory, a nonlinear Quadrotor is modeled into a linear one.…”