PID Control of a Quadrotor

Thusoo, Ritika; Jain, Sheilza; Bangia, Sakshi

doi:10.1007/978-981-15-5341-7_48

Cited by 2 publications

(2 citation statements)

References 43 publications

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“…The altitude controller was developed to follow a trajectory path using the Simulink block diagram as shown in Figure 9. [17,18].…”

Section: The Attitude Controllermentioning

confidence: 99%

Quadcopter Vehicle Proportional-Integral-Derivative Controller (PIDC) Tuning by Particle-Swarm Optimization (PSO)

Gizi

2022

EAI Endorsed Trans Creat Tech

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Inspection of the faults and damages in high voltage transmission lines is not only unsafe and costly but also a very time-consuming process. In addition, it demands highly skilled manpower for the operation at tens of meters above the ground on cables carrying thousands of Volts. Meanwhile, the Quadcopter Aerial Vehicle (QAV) system became a popular alternative for aerial photography applications due to its low cost, ease of usage, and fast response wherein the proportional-integral-derivative controller (PIDC) is used. The PID controller compares the expected location of the drone with the actual measured position thereby can accurately detect the faults in the transmission lines. Based on these factors, in this study, the flight simulation is done according to the desired flight path, and drone imagery is used for (insulator, power line, and porcelain) flaw identification. Furthermore, three movements (roll, pitch, and yaw) of the quadcopter were controlled by different PIDC that were optimized using the particle swarm optimization (PSO). The MATLAB/Simulink application was used to develop the system and simulate the results (R2021b). This clearly suggested that the quadcopter continues to fly on a trajectory with minimum inaccuracy, wherein the PIDC operated as a closed-loop adaptive controller. Finally, the PSO-PIDC outperformed the PIDC due to the critical nature of manual gain modification for quadcopter flight stability.

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“…The altitude controller was developed to follow a trajectory path using the Simulink block diagram as shown in Figure 9. [17,18].…”

Section: The Attitude Controllermentioning

confidence: 99%

Quadcopter Vehicle Proportional-Integral-Derivative Controller (PIDC) Tuning by Particle-Swarm Optimization (PSO)

Gizi

2022

EAI Endorsed Trans Creat Tech

View full text Add to dashboard Cite

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“…Many research studies have been conducted to construct such strategies for UAVs. Linear control systems such as Proportional-Derivative controller or LQRs are widely used to improve the equilibrium stability properties [40,41]. Nonlinear trajectory tracking techniques like backstepping [42] and sliding mode [43] are developed.…”

Section: Control and Trajectory Trackingmentioning

confidence: 99%

Guidance, Navigation and Control for Autonomous Quadrotor Flight in an Agricultural Field: The Case of Vineyards

Mokrane

Benallègue

Choukchou-Braham

et al. 2022

Sensors

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In this paper, we present a complete and efficient solution of guidance, navigation and control for a quadrotor platform to accomplish 3D coverage flight missions in mapped vineyard terrains. Firstly, an occupancy grid map of the terrain is used to generate a safe guiding coverage path using an Iterative Structured Orientation planning algorithm. Secondly, way-points are extracted from the generated path and added to them trajectory’s velocities and accelerations constraints. The constrained way-points are fed into a Linear Quadratic Regulator algorithm so as to generate global minimum snap optimal trajectory while satisfying both the pointing and the corridor constraints. Then, when facing unexpected obstacles, the quadrotor tends to re-plan its path in real-time locally using an Improved Artificial Potential Field algorithm. Finally, a geometric trajectory tracking controller is developed on the Special Euclidean group SE(3). The aim of this controller is to track the generated trajectory while pointing towards predetermined direction using the vector measurements provided by the inertial unit. The performance of the proposed method is demonstrated through several simulation results. In particular, safe guiding paths are achieved. Obstacle-free optimal trajectories that satisfy the way-point position, the pointing direction, and the corridor constraints, are successfully generated with optimized platform snap. Besides, the implemented geometric controller can achieve higher trajectory tracking accuracy with an absolute value of the maximum error in the order of 10−3 m.

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PID Control of a Quadrotor

Cited by 2 publications

References 43 publications

Quadcopter Vehicle Proportional-Integral-Derivative Controller (PIDC) Tuning by Particle-Swarm Optimization (PSO)

Quadcopter Vehicle Proportional-Integral-Derivative Controller (PIDC) Tuning by Particle-Swarm Optimization (PSO)

Guidance, Navigation and Control for Autonomous Quadrotor Flight in an Agricultural Field: The Case of Vineyards

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