PID tuning approaches for quadrotors unmanned aerial vehicles

Abstract

In this paper, a comparative study between different PID tunning techniques is presented. The proposed techniques are applied to solve the formation configuration problem for a cooperative team of unmanned vehicles. The formation problem for the cooperative team is divided into two levels of control, one is the backstepping control technique for the stabilization of the team members positions as a higher controller. Simultaneously, PID controller receives the desired position to stabilize the attitude control as a lower controller to track the desired planning trajectories. The main contribution of this paper is the comparison between the different control approaches in tunning the PID gains to stabilize attitude control for the leader quadrotor. Simulation results present the assessment of the proposed PID control technique compared with different PID tuning approaches such as local optimal control, fraction order, Ziegler-Nichols and genetic algorithm. Moreover, disturbance rejection and white noise attenuation criterions are inspected to evaluate the ability of the proposed controllers to preserve the stability of the system.

Performance comparison and analysis of traditional PID and fuzzy PID control applied to UAV

“…With the arrival of the era of equipment intelligence, achieving automation and intelligence has become the main theme in various fields, especially 5G technology is widely used, and the technical requirements for control systems are getting higher and higher. The clear majority of existing aircraft are using PID controllers as a means of control, and UAVs are no exception, the traditional PID control system is applied as mainstream control system because of its complete and mature technical development and wide range of applications [8]. Yet given the traditional PID control system has emerged as a sluggish or even ineffective field of application due to the rapid technological and scientific advancements, and the fuzzy PID control system has gained popularity [9].…”

Robust Backstepping Control of a Quadrotor UAV Under Pink Noise and Sinusoidal Disturbance

“…In a number of recent studies, it can be seen that PID control design is widely preferred for altitude and attitude control of the quadrotor. The main reason for this situation is that the PID controller is widely used in this industry, its structure is simple, and the controller coefficients can be adjusted easily (Mahfouz et al, 2021). However, the PID controller does not fully meet robust control criteria.…”