Altitude control of quadrotor using fuzzy self tuning PID controller

Fahmizal,; Surriani, Atikah; Budiyanto, Ma’un; Arrofiq, Muhammad

doi:10.1109/ica.2017.8068415

Cited by 19 publications

(10 citation statements)

References 18 publications

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“…Before defining the last term (MB) of ( 4), two physical effects have to be defined: the rotor-generated moments and aerodynamic forces. Each rotor produces a force called the aerodynamic force Fi and a moment called the aerodynamic moment Mi as a result of rotation [32]. They are given by ( 5) and ( 6):…”

Section: Matrix Of Inertiamentioning

confidence: 99%

“…The BSC has proved its efficacy in the control of nonlinear systems compared to the other controllers, especially with the influence of exterior forces [5], [31]. Research by Fahmizal et al [32] the three approaches (PID, SMC, and BSC) were applied to a standalone photovoltaic system's single-phase voltage inverter; the authors proved that BSC has the potential to perform better than the other two controllers. Hence, our work explores the issue of quadrotor trajectory tracking control with the influence of disturbances and model uncertainties.…”

Section: Introductionmentioning

confidence: 99%

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Enhanced backstepping control for disturbances rejection in quadrotors

et al. 2022

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This work studies the issue of quadrotor trajectory tracking control in presence of disturbances and model uncertainties. The paper starts by extracting the kinematics and dynamics models of the quadrotor. This results in the motion equations, which eventually serve as a blueprint for creating the suggested smart flight control scheme. Secondly, an enhanced backstepping controller (BSC) is developed and tested to keep the quadrotor tracking the desired trajectory both in steady state and in presence of disturbances. Finally, BSC beside two other controllers: sliding mode controller (SMC) and proportional derivative controller (PDC) are implemented in MATLAB/Simulink and the obtained results are compared and conclusions are extracted. Therefore, it is established that PDC is not robust to disturbances as noise will be amplified due to the derivative term. Whereas, although SMC is robust to parameter variations and disturbances; however, it is not continuous which may affect the actuators due to the increased gains which may saturate them. In contrast, BSC requires too many tuning parameters; however, it ensures Lyapunov Stability and does not depend on the system as it does not involve cancelling system nonlinearity. Moreover, BSC results are 1017 better than the results of the two other controllers.

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Section: Matrix Of Inertiamentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Enhanced backstepping control for disturbances rejection in quadrotors

et al. 2022

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“…The subscript and signifies the volume of the body and ground coordinate system. The transformation of vectors among the two-coordinate system needs rotation matrix [8]. The rotation matrix form body coordinate system to ground coordinate system is taken from [9] and rewritten as,…”

Section: System Modeling and Preparation Knowledgementioning

confidence: 99%

Fuzzy PID Controller to control the attitude of Quadrotor UAV

2020

GJET

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The stable flight attitude movements of the quad-rotor UAV attained by using Fuzzy PID control algorithm in order to minimize the problems related to slow response and poor robustness. Firstly, the mathematical model of the Plus quad-rotor UAV model is established then the controller is designed which consist of inner ring angular velocity Fuzzy PID and outer ring angle P controller. The traditional techniques of the PID controller, cascade Fuzzy PID controller and cascade PID controller were simulated using Matlab/ Simulink to compare the step signal. The Fuzzy PID controller accelerates the results from the simulations show that the performance of the system improved in terms of accuracy of the system. The simulated flight result also shows that the Fuzzy PID controller shows robust behavior.

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“…Publikasi dengan judul yang berkaitan dengan mobile robot sering menjadi daya tarik, tidak hanya bagi kalangan peneliti, tapi juga bagi kalangan awam. Dari segi manfaat, penelitian tentang berbagai tipe mobile robot diharapkan dapat membantu manusia dalam melakukan otomatisasi dalam transportasi [1], platform bergerak untuk robot industri [2], eksplorasi tanpa awak [3], dan lain sebagainya.…”

Section: Pendahuluanunclassified

Identifikasi Pemodelan Matematis Robot Wall Following

Fahmizal¹,

Arrofiq²,

Mayub³

2018

Jurnal Nasional Teknik Elektro dan Teknologi Informasi (JNTETI)

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This paper describes the process to obtain a mathematical model of a wall following robot. A mathematical modeling is carried out as an effort in determining Proportional, Integral, and Derivative (PID) controller parameters using analytic tuning. In this paper, the model approach used is Auto Regressive Exogenous (ARX). The ARX model is a model used to show the effect of control and disturbance on the output of the plant. The result of this research is a mathematical model of wall following robot which is then used to obtain PID controller parameters. Intisari-Makalah ini memaparkan proses yang dilakukan untuk mendapatkan suatu model matematis sebuah robot wall following. Tujuan pemodelan matematis ialah sebagai upaya pengoptimalam dalam penentuan parameter pengendali Proporsional, Integral, dan Derivative (PID) dengan cara penalaan analitik. Pada makalah ini, pendekatan model yang digunakan ialah Auto Regressive Exogenous (ARX). Model ARX merupakan model yang digunakan untuk menunjukkan efek dari kendali dan gangguan pada keluaran suatu plant. Hasil penelitan ini ialah suatu model matematis robot wall following yang selanjutnya digunakan untuk mendapatkan parameter pengendali PID.

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Altitude control of quadrotor using fuzzy self tuning PID controller

Cited by 19 publications

References 18 publications

Enhanced backstepping control for disturbances rejection in quadrotors

Enhanced backstepping control for disturbances rejection in quadrotors

Fuzzy PID Controller to control the attitude of Quadrotor UAV

Identifikasi Pemodelan Matematis Robot Wall Following

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