Modelling and Manual Tuning PID Control of Quadcopter

Sahrir, Nur Hayati; Basri, Mohd Ariffanan Mohd

doi:10.1007/978-981-19-3923-5_30

Cited by 15 publications

(9 citation statements)

References 14 publications

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“…The elementary rotations about the x, y, and z axes are defined using Euler angles. The final orientation with respect to the corresponding inertial axis, inertial trigonometric functions, and their representations is shown in Figure 3 [12]. R𝜙𝜙 ( 3) is a single rotation of roll, 𝜙𝜙 radius around x axis, R𝜃𝜃 ( 4) is a single rotation of pitch, 𝜃𝜃 radius around y axis and R𝜓𝜓 ( 5) is a single rotation of yaw, 𝜓𝜓 around z axis.…”

Section: Quadcopter's Dynamicmentioning

confidence: 99%

“…The error of the system, 𝑒𝑒(𝑡𝑡) is defined in (12) and 𝑢𝑢 𝑡𝑡 is the control input, while PID controller output relation, 𝑥𝑥 𝑑𝑑 (𝑡𝑡) is defined in (13), and 𝑥𝑥(𝑡𝑡) is the present state or measured value [7 -21]. Figure 8 shows the simulation blocks of PID controller.…”

Section: Controller Designmentioning

confidence: 99%

“…In articles [11][12][13][14][15][16][17], PID controller is used as the main controller for quadcopter system. In [11], PID controller is utilized to track the attitude and altitude under different conditions.…”

Section: Introductionmentioning

confidence: 99%

“…The parameters are tuned with Ziegler-Nichols' method. Meanwhile, in [10,12] PID parameters are tuned with manual tuning, where several trial-and-error are required to achieve the best performance. Both works concluded that the targets successfully achieved, yet the parameter setting still need re-adjustment every time the target values is changed.…”

Section: Introductionmentioning

confidence: 99%

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Trajectory Tracking of a Quadcopter UAV using PID Controller

Baharuddin,

Mohd Basri

2023

Elektrika

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UAVs or Drones are aircraft with no onboard pilot to control the flight. They are introduced in a few categories such as single-rotor, multi-rotors, fixed-wing, and hybrid VTOL. As for multirotor drones, quadcopters are the most well-known either commercially or in the research field. Due to its advantages, a quadcopter has been chosen to perform various tasks across various fields such as entertainment, military, meteorological reconnaissance, civil and emergency responses. As the demand for quadcopters has diverged, the required features of quadcopters have also diverged. One of the current features required by quadcopters is the ability to track trajectories. However, due to its nature of non-linearity, under-actuated and unstable, controlling quadcopter for an accurate and stable performance is quite a challenge. Despite the various proposed methods throughout the past decades, PID controller is still used as either the main controller or the base controller in most cases of industrial control, including quadcopter, mainly due to its simplicity and robustness. However, to design a proper PID controller for quadcopter system is a challenge as it defies the control inputs of four with its six degree-of-freedom form, in which six inputs are required to be controlled to ensure a stable and accurate flight. This paper derived a mathematically model of a quadcopter with Newton-Euler’s equation. Some assumptions on the body and structure of the quadcopter are taken into account to make the modelling possible. Then, a manually tuned PID controller is designed to achieve the objective of controlling the operation and stability of the quadcopter during its flight. The designed controller is tested with five different trajectories which are circular, square, lemniscate, zigzag, and spiral. The results show the proposed controller successfully tracks the desired trajectories, which prove PID controller can be used to control a quadcopter.

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Section: Quadcopter's Dynamicmentioning

confidence: 99%

Section: Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Trajectory Tracking of a Quadcopter UAV using PID Controller

Baharuddin,

Mohd Basri

2023

Elektrika

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“…This paradox is especially clear when it comes to designing the parameters of the proportional, integral and derivative (PID) controller. This is an important problem to solve as the PID controller is one of the popular feedback controllers that is widely used in the industry thanks to its simplicity and efficiency [1,2].…”

Section: Introductionmentioning

confidence: 99%

Three‐time scale multi‐objective optimal PID control with filter design

Aafaque¹,

Boker

Sardahi

2023

Asian Journal of Control

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This paper presents the design of a multi-objective PID (proportional, integral, and derivative) controller in three-time scales for a system with load disturbances and sensor noise. The key to this design method is to divide the problem into three-time scales by following a singular perturbation approach, which allows for the optimization of fewer parameters in each time scale instead of all the three PID gains at once, hence less computation and design effort. The optimization objectives are the minimization of the overshoot and peak time, and the maximization of the closed-loop system's ability to reject noise and load disturbances. The impact of the integral action and filter on the optimal results is investigated by tuning the singular perturbation parameters. The obtained results show that the performance of the closed-loop system recovers the optimal solution, which is based on the fast subsystem, as the singular perturbation parameters get sufficiently small.

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Design and Simulation of PID-Based Control System for UAV Quadcopters

Van Nguyen,

Nguyen

2024

Lecture Notes in Networks and Systems

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Modelling and Manual Tuning PID Control of Quadcopter

Cited by 15 publications

References 14 publications

Trajectory Tracking of a Quadcopter UAV using PID Controller

Trajectory Tracking of a Quadcopter UAV using PID Controller

Three‐time scale multi‐objective optimal PID control with filter design

Design and Simulation of PID-Based Control System for UAV Quadcopters

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