PID Gain Scheduling for 3D Trajectory Tracking of a Quadrotor with Rotating and Extendable Arms

Bouzid, Yasser; Derrouaoui, Saddam Hocine; Guiatni, Mohamed

doi:10.1109/icrami52622.2021.9585973

Cited by 9 publications

(4 citation statements)

References 19 publications

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“…According to the criteria of the squared errors and energies (see Table 6), it can be observed that, the SMO has proven its effectiveness in terms of accuracy and consumed energy compared to the results obtained by the conventional PID. Unlike the obtained results in works [33,34,35,36,37,38,39,40,41,42,43,44], where the initial conditions are zero, the SMO has presented good performance.…”

Section: Results Interpretationcontrasting

confidence: 85%

Sliding Mode Controller Based on the Sliding Mode Observer for a QBall 2+ Quadcopter with Experimental Validation

Daadi¹,

Boulebtinai²,

Derrouaoui³

et al. 2022

IJRCS

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This paper studies a particular Unmanned Aerial Vehicle (UAV), called QBall 2+ quadcopter. This vehicle is a complex system, non-linear, strongly coupled, and under-actuated. First, a non-linear model was developed to represent the dynamics of the studied drone. Once the latter is established, the linear model was used to obtain the best gains of the Proportional Integral Derivative (PID) controller. This controller was applied after on the non-linear model of the UAV. Moreover, a Sliding Mode Controller (SMC) based on Sliding Mode Observer (SMO) was designed for retrieving the system unknown variables. Through these latter, the QBall 2+ was controlled, taking into account the observer errors. The first contribution in this work is to implement the PID regulator on the QBall 2+ flight controller to validate the results obtained by simulation. Secondly, due to the limitations of the Flex 3 cameras, especially when the drone is outside their working environment, the sliding mode observer was implemented to replace the cameras in order to measure the states of the system considered in this work. Simulation results of the different applied controllers were displayed to evaluate their effectiveness.

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Section: Results Interpretationcontrasting

confidence: 85%

Sliding Mode Controller Based on the Sliding Mode Observer for a QBall 2+ Quadcopter with Experimental Validation

Daadi¹,

Boulebtinai²,

Derrouaoui³

et al. 2022

IJRCS

Self Cite

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“…The quadrotor rotates around the primary axis with a constant angular velocity � w B . Following the cross product property, it is required that � Z should be parallel to the angular velocity � w B , as shown in Eq (10), so that:…”

Section: Hovering Equilibrium Statementioning

confidence: 99%

“…The FT control can be used to regain control of the quadrotor when partial loss of thrust generated by the propellers or complete propeller failure occurs. The authors in [9][10][11] proposed geometric changes in the structure of the quadrotor to compensate against any faulty behavior. The main impetus of this paper comes from the idea to introduce additional stability to help quadrotors in maintaining pose in 3D space and performing safe maneuverings despite losing one propeller or two opposing propellers.…”

Section: Introductionmentioning

confidence: 99%

Avoiding contingent incidents by quadrotors due to one or two propellers failure

Altınuç

Khan²,

Iqbal³

2023

PLoS ONE

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With the increasing impact of drones in our daily lives, safety issues have become a primary concern. In this study, a novel supervisor-based active fault-tolerant (FT) control system is presented for a rotary-wing quadrotor to maintain its pose in 3D space upon losing one or two propellers. Our approach allows the quadrotor to make controlled movements about a primary axis attached to the body-fixed frame. A multi-loop cascaded control architecture is designed to ensure robustness, stability, reference tracking, and safe landing. The altitude control is performed using a proportional-integral-derivative (PID) controller, whereas linear-quadratic-integral (LQI) and model-predictive-control (MPC) have been investigated for reduced attitude control and their performance is compared based on absolute and mean-squared error. The simulation results affirm that the quadrotor remains in a stable region, successfully performs the reference tracking, and ensures a safe landing while counteracting the effects of propeller(s) failures.

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“…In this section, we will introduce the dynamic model, which incorporates all the geometric changes of the reconfigurable quadrotor shape. This model is developed to extend first our previous research works, 26,30,31 second to ameliorate the models existing in the literature, and third to use it later in the control loop.…”

Section: Dynamic Modelingmentioning

confidence: 99%

Adaptive integral backstepping control of a reconfigurable quadrotor with variable parameters’ estimation

Derrouaoui

Bouzid

Guiatni

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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This work presents the control of a quadrotor capable of changing its configuration while flying. The designed controller should handle several arising issues since the drone geometric parameters are varying over time. This variation has a great influence on the quadrotor control, which prompts us to propose an efficient nonlinear adaptive integral backstepping controller. The control architecture includes an estimator of the inertia and other specific blocks to calculate the center of gravity and the mixing matrix. The performance of the proposed control approach has been compared with the conventional integral backstepping controller in two cases, with and without disturbances. The obtained results of the inertias and the center of gravity are also compared and confirmed with those calculated using Computer-Assisted Design–based model.

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PID Gain Scheduling for 3D Trajectory Tracking of a Quadrotor with Rotating and Extendable Arms

Cited by 9 publications

References 19 publications

Sliding Mode Controller Based on the Sliding Mode Observer for a QBall 2+ Quadcopter with Experimental Validation

Sliding Mode Controller Based on the Sliding Mode Observer for a QBall 2+ Quadcopter with Experimental Validation

Avoiding contingent incidents by quadrotors due to one or two propellers failure

Adaptive integral backstepping control of a reconfigurable quadrotor with variable parameters’ estimation

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