Attitude Control of a Quadrotor with Optimized PID Controller

Bolandi, Hossein; Rezaei, Mohammad; Mohsenipour, Reza; Nemati, Hossein; Smailzadeh, S. M.

doi:10.4236/ica.2013.43039

Cited by 161 publications

(63 citation statements)

References 24 publications

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“…Based on this condition, the PID control system is divided into three sub-systems, namely pitch, roll, and yaw. By adjusting the coefficient value of each motion using the Ziegler-Nichols rules, movement stability can be achieved [31,32]. After the data is processed, the thrust generated at the two-axis coordinates system (illustrated on Figure 3) will affect the angular change on the pitch (x-axis) and roll (y-axis).…”

Section: Pid Control Systemmentioning

confidence: 99%

Flight Stability Analysis of a Symmetrically-Structured Quadcopter Based on Thrust Data Logger Information

et al. 2018

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Quadcopter flight stability is achieved when all of the rotors-propellers generate equal thrust in hover and throttle mode. It requires a control system algorithm for rotor speed adjustment, which is related with the translational vector and rotational angle. Even with an identical propeller and speed, the thrusts generated are not necessarily equal on all rotors-propellers. Therefore, this study focuses on developing a data logger to measure thrust and to assist in flight control on a symmetrically-structured quadcopter. It is developed with a four load cells sensor with two-axis characterizations and is able to perform real-time signal processing. The process includes speed adjustment for each rotor, trim calibration, and a proportional integral derivative (PID) control tuning system. In the data retrieval process, a quadcopter was attached with data logger system in a parallel axis position. Various speeds between 1200 rpm to 4080 rpm in throttle mode were analyzed to determine the stability of the resulting thrust. Adjustment result showed that the thrust differences between the rotors were less than 0.5 N. The data logger showed the consistency of the thrust value and was proved by repeated experiments with 118 s of sampling time for the same quadcopter control condition. Finally, the quadcopter flight stability as the result of tuning process by the thrust data logger was validated by the flight controller data.

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Section: Pid Control Systemmentioning

confidence: 99%

Flight Stability Analysis of a Symmetrically-Structured Quadcopter Based on Thrust Data Logger Information

et al. 2018

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“…where 3 C , 4 C are known feedback coefficients. From the dynamic equations of motion around the gravity center we can determine the control torques.…”

Section: (13)mentioning

confidence: 99%

“…Linear model. Used for simple maneuvers [3] or for the calculation of the control algorithm by complex methods of high computational cost (LQR, model predictive control) [4], [ 5], [6].…”

Section: Introductionmentioning

confidence: 99%

“…Quadrocopters control most commonly uses the following: PD/PID -regulators [3], [6], [7], [11], [12], LQR [4], [5], model predictive control [6], [9], backstepping control [7], [8], sliding mode control [7] and inverse control [5], [7], [13]. In this paper, the methods are chosen to control the synthesis of linearquadratic regulator (LQR method), and the method of inverse dynamics.…”

Section: Introductionmentioning

confidence: 99%

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Control Methods Design for a Model of Asymmetrical Quadrocopter

Beniak¹,

Gudzenko²

2016

JAMRIS

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“…Previous work has shown successful implementation and performance of PID controllers for trans lational motion shown in [6] , [7] and [3]. [8] compares LQR control techniques to PID controllers.…”

Section: Bouabdallah Lamjedmentioning

confidence: 99%

Modeling and control of a quadrotor UAV

Walid

Najar

Mohamed

et al. 2014

2014 15th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)

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In the recent years, the control of Unmanned Aerial Vehicles (UAV) has become one of the most interesting field of research, especially for Vertical Take-Off and Landing vehicles (V TOL) , due to the needs to such system, the simplicity of their construction and due to the important technological advances in control boards, sensors, communication tools, energy storage. In this paper, a mathematical model has been developed with Lagrange formalism and a control approach based on Propor tional Derivative PD controller has been built and provided with numerical simulation in MATLAB/Simulink. Index Terms-Quadrotor,Unmanned Aerial Vehicles(UAV), Modelling, PD control, Trajectory. I. IN TRODUCTIONThe UAVs are used in large variety of fields such as surveil lance, commercial delivery, military, rescue. Due to their great manoeuvrability, ability to take off and land vertically, hover performance and higher payload, the quadrotor aircraft is the optimal solution for dangerous mission and access into several areas which cannot be accessed by traditional air planes nor helicopters. The quadrotor is a Ve rtical Ta ke-Off and Landing (VTOL) aircraft. It consists of 4 propellers arranged on X or + configuration, every arm holds a rotor (motor + propeller) on its end as shown in figure 1. The motion of the quadrotor can be controlled through varying the speed of the propellers which can produce one of the following motions : Roll: This motion is accomplished by increasing (decreasing) the speed of the motor 1 and decreasing (increasing) the speed of the motor 3, Pitch: It is the rotation around the Y axis, it can be done by increasing (decreasing) the speed of the motor 2 and decreasing (increasing) the speed of the motor 4, Yaw: To rotate the quadrotor around the Z axis, it's provided 978-1-4799-5907-5/14/$31.00 ©2014 IEEE

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Attitude Control of a Quadrotor with Optimized PID Controller

Cited by 161 publications

References 24 publications

Flight Stability Analysis of a Symmetrically-Structured Quadcopter Based on Thrust Data Logger Information

Flight Stability Analysis of a Symmetrically-Structured Quadcopter Based on Thrust Data Logger Information

Control Methods Design for a Model of Asymmetrical Quadrocopter

Modeling and control of a quadrotor UAV

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