Robust control of UAVs using the parameter space approach

Abstract

In this paper a robust PID controller for quadrotor unmanned aerial vehicles is proposed that uses the parameter space approach. Stability and robustness analyses are carried out in the controller parameter space to determine a set of stable controller gains that guarantee also robustness against system parameter uncertainties. Additionally, the tradeoff between robustness and performance is included in the control gain choice. Experimental results validate the proposed approach, where the robust behavior of a quadrotor is shown for step response and path following.

Plug-and-play adaptation in autopilot architectures for unmanned aerial vehicles

“…The sliding variable as ( 8) is sometimes referred to as PID sliding surface [33], [34]. However, the literature in field considers uncertainty with a priori constant bound a priori, instead of more general state-dependent uncertainty as in (11). This state-dependent structure will now be used to design an adaptation mechanism.…”

“…To improve the robustness and the adaptation of the control loop to state-dependent uncertainty as in (11), a new adaptive sliding structure is constructed. We propose the control law…”

“…Some recent advances in PID control applied to UAVs are listed hereafter. Cascaded PID controllers for UAV position and attitude control have been designed in [11] using the parameter space approach; gain scheduled PID control using relay feedback has been proposed in [12]; integral quadratic constraints (IQCs) combined with PID controllers were formulated in [13] as an optimal control problem. Other PID designs have been used for flapping-wing UAVs [14] or vertical takeoff and landing UAVs [15].…”

Robust Control of a Quadcopter Flying Via Sliding Mode

“…Nowadays many methods have been developed to control quadcopter including linear and non-linear controls. Some previous studies were simulation's research of quadcopter controller using PD [5], PID [6] [7] [8] and sliding mode control (SMC) [9]. The PD controller can be reduced the uncertainties of a quadcopter by manually select filter parameters and the results show that the output can follow the reference but there is a steady state error when added disturbance [5].…”

Graphical two‐term control system design considering time delay margin and time‐integral performance criterion

“…The second part of the design method is to map time-integral performance criterion into 2D parameter plane. A similar design approach is used in [4] for the PID attitude and position control of unmanned aerial vehicle. The integral errors such as integral square error (ISE), integral absolute error (IAE), integral time square error (ITSE), integral time absolute error (ITAE) are good measure of the system performance in order to evaluate and compare different control system designs [5].…”