Modeling, simulation and implementation of a modified PID controller for stabilizing a quadcopter

Paiva-Peredo, Ernesto; Soto, Juan Carlos; Salinas, Julio A.; Ipanaqué, William

doi:10.1109/ica-acca.2016.7778507

Cited by 31 publications

(19 citation statements)

References 13 publications

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“…The authors [16][17][18][19] presented the use of a multi-loop control scheme (i.e., inner-loop and outer-loop) to control quadcopters in specific applications. Several authors improved a modified PID approach to design control laws based on nonlinear mathematical models to achieve a position tracking [20,21]. By making use of the discrete linearisation model of tracking errors, the PID controller combined with least quadratic regulation (LQR) were presented in [22,23] to find a discrete control input.…”

Section: Related Workmentioning

confidence: 99%

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Quadcopter Adaptive Trajectory Tracking Control: A New Approach via Backstepping Technique

2019

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Nowadays, quadcopter unmanned aerial vehicles play important roles in several real-world applications and the improvement of their control performance has become an increasingly attractive topic of a great number of studies. In this paper, we present a new approach for the design and stability analysis of a quadcopter adaptive trajectory tracking control. Based on the quadcopter nonlinear dynamics model which is obtained by using the Euler–Lagrange approach, the tracking controller is devised via the backstepping control technique. Besides, an adaptive law is proposed to deal with the system parameterized uncertainties and to guarantee that the control input is finite. In addition, the vehicle’s vertical descending acceleration is ensured to not exceed the gravitational acceleration by making use of a barrier Lyapunov function. It is shown that the suitable parameter estimator is stable and the tracking errors are guaranteed to be asymptotically stable simultaneously. By prescribing certain flight conditions, we use numerical simulations to compare the control performance of our method to that of existing approaches. The simulation results demonstrate the effectiveness of the proposed algorithm.

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Section: Related Workmentioning

confidence: 99%

“…The first Lyapunov candidate function (21) and its time-derivative (22) along the solution of model (20):…”

Section: Horizontal Position Controllermentioning

confidence: 99%

Quadcopter Adaptive Trajectory Tracking Control: A New Approach via Backstepping Technique

2019

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“…Hasil percobaan menghasilkan stabilitas dan reabilitas yang diinginkan. (Paiva, Soto, Salinas, & Ipanaqué, 2016) melakukan pemodelan terhadap quadcopter dan merancang sistem kendali PID. Pemodelan dan simulasi dilakukan menggunakan Simulink lalu diimplementasikan ke quadcopter.…”

Section: Pendahuluanunclassified

Rancang Bangun Quadrotor Dengan Kendali Robust Pid Untuk Pemetaan Sawah Pra Panen

Firmansyah

Sumanto

Mareta

2018

JNTT

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Field mapping is important to know the potential of agricultural productivity in a region.Furthermore, field mapping can also be used to predict crops in a region. The mapping can be donethrough aerial photographs. Aerial photographs can be performed using manned aerial vehicle aswell as unmanned aerial vehicle. Currently, many aerial photographs are taken using unmannedaerial vehicle because the cost is much more affordable than using a manned aerial vehicle. One typeof unmanned aircraft used for aerial photographs is quadcopter. However taking aerial photographsusing a quadcopter often produces blurry images due to its instability. Instability of the quadcopter iscaused by several factors including sensor readings such as IMU, GPS, compass, and barometer,disturbance factors such as angina, and control systems that are less robust to quadcopter characters.To get a stable quadcopter, a control system that matches the quadcopter character and has aresistance to interference is needed. One of the control systems that can be applied to the quadcopteris the Robust PID control system. Reliability of the control system can be seen using ITAE (IntegralTime Absolute Error). The smaller the value of ITAE the better the control system. Some tuningmethods are done to get the Robust PID control system. The method used in this research is ZieglerNicols, fine tuned PID controller, and ITAE tuning method. The result of PID constant tuning is thenimplemented to quadcopter. In this study the response data was obtained by using IMU sensor. Theresult shows that of the three tuning methods implemented in the quadcopter, the Fine tuning methodgives better results than the others.

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“…It adopted a linear Gaussian-based controller and intended to maintain a constant altitude and for estimating the altitude velocity a Kalman filter was designed. Meanwhile, in a paper about Automata presented by Paiva, Soto, Salinas and Ipanaqué (2016), a modified PID controller was designed for regulating the altitude i.e. z-axis of the quad rotor by varying the rotational angles in the presence of disturbances.…”

Section: Introductionmentioning

confidence: 99%

Controlling the Altitude Dynamics of Quadcopter using Robust Output Feedback Controller

Shaikh¹,

Nighat²,

Chowdhry³

2019

3C Tecnología

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This paper deals with observer based controlling and stabilization of the nonlinear dynamics of the quadcopter and in order to explore the complex dynamics of the quadcopter, the only altitude of the quadcopter is considered. A nonlinear model of the altitude is extracted from the six DOF model of the quadcopter and the same is linearized. A robust controller is implemented in the design to cater to the nonlinear nature of the quadcopter at hover by using both Sliding mode control and model predictive controller. The soft instrument, observer, is designed here for the state estimation purpose to bring the simulated system more closely to realistic values. Effectiveness of the designed system is ensured by trajectory tracking of the quadcopter. Simulation results presented show that output feedback based controller designed having optimum performance in estimating the states of the targeted system with almost negligible error. Also, the nonlinear controller designed having superior performance as compared to a controller designed with the linearized system.

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Modeling, simulation and implementation of a modified PID controller for stabilizing a quadcopter

Cited by 31 publications

References 13 publications

Quadcopter Adaptive Trajectory Tracking Control: A New Approach via Backstepping Technique

Quadcopter Adaptive Trajectory Tracking Control: A New Approach via Backstepping Technique

Rancang Bangun Quadrotor Dengan Kendali Robust Pid Untuk Pemetaan Sawah Pra Panen

Controlling the Altitude Dynamics of Quadcopter using Robust Output Feedback Controller

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