Research on attitude controller of quadcopter based on cascade PID control algorithm

Bao, Nengsheng; Ran, Xie; Wu, Zhanfu; Xue, Yusheng; Wang, Keyan

doi:10.1109/itnec.2017.8285044

Cited by 28 publications

(11 citation statements)

References 4 publications

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“…The inner control loop analyzes information from the measuring instruments, in particular information about the roll, pitch, and yaw angles, as well as the Z coordinate. The output data of the inner control loop are the desired altitude and attitude values that stabilize the position of the UAV in space [7,17,18]. The quadcopter includes two pairs of motors rotating in a counterclockwise direction CCW (motors 1 and 2) and the remaining two motors rotating clockwise CW (motors 3 and 4).…”

Section: Control System Designmentioning

confidence: 99%

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Hardware/Software Architecture for Research of Control Algorithms of a Quadcopter in the Presence of External Wind Loads

Jatsun

Emelyanova

Bezmen

et al. 2021

Smart Innovation, Systems and Technologies

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The paper presents a hardware/software architecture for the study of algorithms for controlling an unmanned aerial vehicle-type quadcopter in the presence of wind loads; an algorithm for the stabilization of the position of the center of mass of the quadcopter has been implemented and tested on an experimental model. The purpose of the presented hardware/software architecture is a study of the UAV control system parameters influence on the accuracy of the positioning of the vehicle in laboratory conditions under the influence of wind loads, as well as the movement of the vehicle along the specified points of the trajectory based on inertial sensors. The article discusses about the necessary hardware and software elements for reaching the stabilization of the position of the quadcopter in the hover mode based on data obtained from sensors. As the result of the study, the theoretical and experimental data are compared and the permissible range of the positioning error of the device is determined.

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Section: Control System Designmentioning

confidence: 99%

“…The quadcopter includes two pairs of motors rotating in a counterclockwise direction CCW (motors 1 and 2) and the remaining two motors rotating clockwise CW (motors 3 and 4). The four control variables U i are expressed as [7,13,17]:…”

Section: Control System Designmentioning

confidence: 99%

Hardware/Software Architecture for Research of Control Algorithms of a Quadcopter in the Presence of External Wind Loads

Jatsun

Emelyanova

Bezmen

et al. 2021

Smart Innovation, Systems and Technologies

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“…The design complications of the control systems were reduced recently due to the progress and the development allowed by the robotic systems and mechatronics engineering [1,2]. Such fields prepare all the requirements for the experts to simplify the sophisticated control systems based on various strategies.…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of GPS Based Quadcopter Control System

Aziz¹,

Algburi²,

Alani³

et al. 2020

Proceedings of the Proceedings of the 1st International Multi-Disciplinary Conference Theme: Sustainable Development and Smart

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The signal coverage area is considered a controversial point that is solved and discussed wisely in this paper. The designers usually concentrate only on satisfying the controllability of the quadcopter module without discussing the coverage range between the transmitter and the receiver. This paper shows a smart design method of a low-cost quadcopter device controlled by a GPS. Moreover, the modern control system was designed to control the plane by creating an integration between the control unit and the PID system, which allowed the system to reach stability very fast and the peak overshoot was eliminated. The control system of the quadcopter calibrates the Pitch, Roll, Twist, which located on x,y,z axes respectively depending on the altitude sensor. Under the GPS act, the entire frame will be allocated in the covered area which was specified by 500 meters. This specification keeps the quadcopter in the required range and the tipping down accidents will be unexpected. Finally, this work was completed based on the Arduino IDE C++ compiler and Matlab program that emphasizes the theoretical results.

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“…Similarly, [5] utilized a modified PID based controller to regulate the attitude factor of the quadrotor by controlling the roll, pitch and yaw angle in the presence of disturbances and also presenting the mathematical model of the nonlinear system. [6] presented the modeling of quadcopter attitude using Euler's angle description and the system is linearized at the hovering point for the designing of the PID controller in cascading mode to make the system stabilized at hovering point but the designed system was failed in achieving the full flight operation of quadcopter. In order to control the heading and attitude of the quadcopter, adaptive pole placement based selftuned PID controller was implemented by [7] which showed well performance when parameters were tuned online.…”

Section: Introductionmentioning

confidence: 99%

Design of Robust & Predictive Controller for Altitude Stabilization and Trajectory Tracking of a Quad-Copter

Bushra¹,

Memon²,

Nighat³

et al. 2018

IJET

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Controlling the non-linear dynamics of the quad-copter has stimulated many control engineers to investigate & design the variety of controllers in order to control and stabilize the various aspects of quad copter such as the attitude, altitude, heading, xy position and even in trajectory following in the presence of disturbance. This is because of the quad-copter's application and importance in the variety of fields such as military, rescue, agriculture, surveillance, investigation, etc. Altitude control & stabilization problem of the quad-copter is the main focus of this research study. A dynamic and predictive controller is designed for the said problem based on Model predictive controller. In order to deal with the uncertainties & dynamics of the model during the flight operation and to ensure the robustness for the designed system, the sliding mode control technique is presented. Proportional-Integral-Derivative controller is also implemented for the system to make a comparative analysis with the rest of the designed controllers. Apart from controlling & stabilizing the altitude, these controllers are also capable for the trajectory tracking of the quad-copter. The six degree of freedom coupled model of quad-copter is taken into account and the same is then de-coupled for quad-copter hovering. In order to confirm the asymptotically stable state of the system, stability analysis of the proposed controller design is also done. The designed system is simulated in MATLAB/SIMULINK and also the comparison for robust and predictive controller is presented in order to depict the degree of potency of the proposed controller.

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Research on attitude controller of quadcopter based on cascade PID control algorithm

Cited by 28 publications

References 4 publications

Hardware/Software Architecture for Research of Control Algorithms of a Quadcopter in the Presence of External Wind Loads

Hardware/Software Architecture for Research of Control Algorithms of a Quadcopter in the Presence of External Wind Loads

Design and Implementation of GPS Based Quadcopter Control System

Design of Robust & Predictive Controller for Altitude Stabilization and Trajectory Tracking of a Quad-Copter

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