Formation reconfiguration is one of the most important tactics used in the field of cooperative Unmanned Air Vehicles. In this paper, formation reconfiguration for a team of vertical takeoff and landing quadrotors is managed by a classical approach of proportional-integral-derivative (PID) controller. PID controller is designed to regulate the attitude and the altitude for every quadrotor of a cooperative team respecting the separating span and velocity constraints. PID controller results are compared with a backstepping controller developed for the same system. The mathematical model of the propositioned system is derived initially, and then a PID controller using simplex and genetic algorithms is designed qualifying the cooperative quadrotors to track the desired trajectories. Simulation results present the assessment of PID control strategy along with backstepping control strategy in different scenarios including proposal flight mission in obstacle-free surroundings, and obstacle-laden surroundings. Noise attenuation and disturbance rejection are examined for both controllers to check the robustness of the system.
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.
Formation configuration is one of the major intrinsic strategies used in cooperative Unmanned Air Vehicles field. In this paper, Backstepping-PID control technique for cooperative quadrotors unmanned aerial vehicles are developed to solve the formation problem. The proposed controller is divided into couple of parts working together. Backstepping controller is used to stabilize the position control 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 using Fraction Order Approach, and Local Optimal Approach to refine the PID lower controller gains. The tunning of the PID gains through the proposed PID tuning approaches guarantee the stabilization of the attitude control for all the team members. Simulation results present the success of the proposed PID tuning approaches in solving the formation problem for cooperative unmanned quadrotors tracking a desired path. Moreover, the simulation results present the ability of the proposed approaches to handle disturbance rejection and noise attenuation while preserving the stability of the system.
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