Design of a Closed-Loop Error-in-Variable System Controller and Its Application in Quadrotor UAV

Abstract

In view of the fact that the output is only disturbed by error in most of the current system studies, this article proposes a closed-loop variable system model with error (both input and output signals are disturbed by noise) and designs the controller of the system. In this study, minimum variance controller and self-correcting minimum variance controller are designed using minimum variance control. Then an example is given to evaluate the performance of the designed controller using minimum variance performance evaluation. Finally, the closed-loop variable error system is combined with the quadrotor UAV (unmanned aerial vehicle), and the position controller in the position control loop of the quadrotor UAV is designed. The experimental results show that the controller has good performance and can well meet the design needs.

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“…Robustness is commonly characterised as the bare minimum that a control system must meet in order to be usable in a real situation. Once created, the controller's settings do not alter, and control performance is assured (Ahmed et al, 2023a(Ahmed et al, ,b, 2022aSergiyenko et al, 2023 ;Kengne et al, 2023a,b ;Hashim et al, 2023 ;Hameed et al, 2023 ;Fekik et al, 2023a,b ;Zhang et al, 2023 ;Wang et al, 2023 ;Dendani et al, 2023 ;Toumi et al, 2022 ;Mahdi et al 2022 ;Ali el al., 2022a,b ;Abdul-Kareem et al, 2022;Abed et al, 2022;Sekhar et al, 2022 ;Saidi et al, 2022;Al Mhdawi et al, 2022 ;Lajouad et al, 2021;El Kafazi et al, 2021 ;Sundaram et al, 2021 ;Tolba et al, 2017a,b ;Soliman et al, 2017Soliman et al, , 2020Wang et al, 2017;Humaidi et al 2022Humaidi et al , 2021Humaidi et al , 2020Djeddi et al, 2019;Shukla et al, 2018;Khettab et al, 2018;Vaidyanathan et al, 2021aVaidyanathan et al, ,b,c,d,e, 2019Vaidyanathan et al, , 2018aVaidyanathan et al, ,b,c,d, 2017aVaidyanathan et al, ,b,c, 2015aVaidyanathan and Azar, 2021, 2016a,b,c,d,e,f, 2015aSantoro et al, 2013).…”

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“…Artificial Intelligence (AI) stands as the overarching field that encompasses computational intelligence, metaheuristic algorithms, control and robotics, forming a dynamic and interconnected landscape of technological advancement (Ahmed et al, 2023a(Ahmed et al, ,b,c, 2022aSayed et al, 2023;Sergiyenko et al, 2023;Vaidyanathan et al, 2023Vaidyanathan et al, , 2019Vaidyanathan et al, , 2018aVaidyanathan et al, ,b, 2017aVaidyanathan et al, ,b, 2015Kengne et al, 2023a,b;Azar et al, ,d, 2022aAzar et al, ,b, 2020aHashim et al, 2023;Hameed et al, 2023;Fekik et al, 2023aFekik et al, ,b,c, 2022aFekik et al, ,b,c, 2021aZhang et al, 2023;Wang et al, 2023;Dendani et al, 2023;Bousbaine et al, 2023;Hasan et al, 2023;Hamida et al, 2023Hamida et al, , 2022bNaoui et al, 2023). Artificial intelligence (AI) is rapidly transforming the field of robotics, enabling robots to perform more complex tasks and operate in more challenging environments.…”