Implementation of PID Control as a One Axis Balancing Control System on the Bicopter Vehicle

Jayadi, Akhmad; Adhinata, Faisal Dharma; Sembiring, Jaka Persada; Putri, Novia Utami; Pranita, Elka; Setiawan, Arif

doi:10.1109/iccteie60099.2023.10366534

2023 International Conference on Converging Technology in Electrical and Information Engineering (ICCTEIE) 2023

DOI: 10.1109/iccteie60099.2023.10366534

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Implementation of PID Control as a One Axis Balancing Control System on the Bicopter Vehicle

Akhmad Jayadi,

Faisal Dharma Adhinata,

Jaka Persada Sembiring

et al.

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2024

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Cited by 1 publication

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Balance Control of Brushless Direct Current Motor Driven Two-Rotor UAV

Cukdar,

Yigit,

Celik

2024

Applied Sciences

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In this study, the balance control of a Brushless Direct Current Motor (BLDCM) driven Two-Rotor UAV (2R-UAV) was carried out. First, a MATLAB/Simulink model of the balance system of the 2R-UAV was built. Afterwards, classical and 2-DOF PID, and proposed Adaptive Fuzzy (AF) 2-DOF PID control structures were created on the STM32F4 microprocessor for both balance angle of the system and speed control of the BLDCMs. Classical and 2-DOF PID controller parameters were determined via Particle Swarm Optimization (PSO), a technique that is commonly used in control applications. For the balance control of the 2R-UAV, a Co-Simulation structure was created using the STM32F4 microprocessor and MATLAB/Simulink, and the performances of classical and 2-DOF PID, and AF 2-DOF PID controllers were examined comparatively. Upon examining the comparison results, it was found that the classical and 2-DOF PID, and AF 2-DOF PID stably controlled the balance of the 2R-UAV. The AF 2-DOF PID controller, proposed in this research, performed better than the classical and 2-DOF PID, especially under variable operating conditions.

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Balance Control of Brushless Direct Current Motor Driven Two-Rotor UAV

Cukdar,

Yigit,

Celik

2024

Applied Sciences

View full text Add to dashboard Cite

show abstract

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Implementation of PID Control as a One Axis Balancing Control System on the Bicopter Vehicle

Cited by 1 publication

References 11 publications

Balance Control of Brushless Direct Current Motor Driven Two-Rotor UAV

Balance Control of Brushless Direct Current Motor Driven Two-Rotor UAV

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