Comparison of gradient methods for gain tuning of a PD controller applied on a quadrotor system

Abstract

Many mechanical and electrical systems have utilized the proportional-integral-derivative (PID) control strategy. The concept of PID control is a classical approach but it is easy to implement and yields a very good tracking performance. Unmanned aerial vehicles (UAVs) are currently experiencing a significant growth in popularity. Due to the advantages of PID controllers, UAVs are implementing PID controllers for improved stability and performance. An important consideration for the system is the selection of PID gain values in order to achieve a safe flight and successful mission. There are a number of different algorithms that can be used for real-time tuning of gains. This paper presents two algorithms for gain tuning, and are based on the method of steepest descent and Newton's minimization of an objective function. This paper compares the results of applying these two gain tuning algorithms in conjunction with a PD controller on a quadrotor system.

A Review on Comparative Remarks, Performance Evaluation and Improvement Strategies of Quadrotor Controllers

“…Nonlinear PID [149][150][151][152][153], cascaded PID [154,155], gradient optimization based PID [156,157], particle swarm optimization PID [158], self-tuning PID [29,159], genetic algorithm based PID [160,161], fractional PID [162], online iterative learning [163].…”

A Comprehensive Survey of Control Strategies for Autonomous Quadrotors

“…Some of the more attractive advantages include: PID controllers are very easily to implement, the parameters (gains) are easy adjusted, and PID algorithms yield a very reliable and consistent performance. However, since quadrotors are nonlinear underactuated systems [31], it is not always suitable to implant the PID control directly for the quadrotor system. Nonetheless, many researchers adopted the PID controller specifically for quadrotor systems.…”

Adaptive fuzzy control of a quadrotor using disturbance observer

“…To guarantee that a quadrotor UAV tracks ideal trajectory within a small tracking error, the attitude loop and the position loop need to be precisely controlled, and then the high precision control of the six degrees of freedom of the quadrotor can be achieved. Among existing literatures, the Proportional-Integer-Derivative (PID) controller [5][6][7][8] has been widely used in UAVs due to its simple control structure. In [5], the PID controller has been used to regulate the posture (position and orientation) of the quadrotor.…”

“…In [6], the authors have proposed a new model design method for a quadrotor, which has been further controlled by a PID controller. In [7], the authors have proposed two algorithms to adjust the gain of PID controller, and then compared the superiority of the two algorithms. In [8], the authors have proposed a PID control method to restrain constant interference for the formation flight of UAVs.…”