PID vs. Backstepping Control for Cooperative Quadrotors Unmanned Aerial Vehicles

Mahfouz, Mahmoud; Taiomour, A.; Mohamed, Amr; Elnashar, Gamal

doi:10.1088/1757-899x/610/1/012057

Cited by 7 publications

(4 citation statements)

References 28 publications

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“…A group of fourfold control inputs parameters i η are acquired like a function of normalized singular thrust and torques as in equations (2-4). At hovering and semi hovering states when nonlinear components can be neglected as in (Mahfouz et al, 2019), the thrust and forces are corresponding to the square of propellers' spinning speed. The thrust and drag forces can be calculated by Azzam and Wang (2010), Mahfouz et al (2013):…”

Section: Quadrotor Schematic Modelmentioning

confidence: 99%

“…These parameters are used at the middle point of mass and stated in the steady-body coordinate. It is represented in Newton-Euler approach as follows (Mahfouz et al, 2019;Murray et al, 1994)…”

Section: Quadrotor Schematic Modelmentioning

confidence: 99%

“…A couple of obstacles avoidance techniques are applied to guarantee the safety of all members of the group during tracking a reference desired trajectory in presence of stationary and moving obstacles in an obstacle-loaded dynamic environment. Stationary obstacle avoidance approach was developed in (Mahfouz et al, 2018;Mahfouz et al, 2019), while moving obstacle avoidance approach was introduced in Mahfouz, Hafez, Azzam, et al, 2020).…”

Section: ( / )mentioning

confidence: 99%

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Backstepping-ANFIS Hybrid Controller Design for Cooperative Quadrotors

Mahfouz,

Hafez,

Ashry

et al. 2023

JART

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This paper offers a novel hybrid control approach for solving the formation problem for a group of cooperative quadrotors unmanned aerial vehicles (UAVs). Two-loop controller layout techniques are presented: one is a backstepping based PID controller as a higher-controller in external-loop to manage the proportional position orders and create body-axis rate orders for the internal loop. Second, it is an Adaptive Neuro Fuzzy Inference System (ANFIS) Controller acts as a lower-controller in the internal-loop to generate desired angular rotations for every quadrotor, separately. The introduced hybrid controller is applied to overcome the formation aviation downside that keeps track of the leader-follower approach. The contribution in this paper lays in developing a solution for the formation problem for a group of cooperative UAVs through a double layer hybrid Backstepping-ANFIS controller. A complete model of six-degree of freedom for a group of cooperative UAVs is used in the MATLAB Simulink in order to perform various simulations to validate the hybrid proposed controller. Simulation results for a team of cooperative UAVs show the success of the proposed approach in solving the formation configuration problem for the UAV team members in free and loaded obstacles environment.

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Section: Quadrotor Schematic Modelmentioning

confidence: 99%

Section: Quadrotor Schematic Modelmentioning

confidence: 99%

Section: ( / )mentioning

confidence: 99%

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Backstepping-ANFIS Hybrid Controller Design for Cooperative Quadrotors

Mahfouz,

Hafez,

Ashry

et al. 2023

JART

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show abstract

“…Equations ( 16) and ( 17) show the input-output relationship between speed and slip rate, and pid control is simpler and more efficient in processing this relationship [32][33][34][35]. When the wheel slip rate exceeds the optimal slip rate, the actual wheel speed is greater than the expected wheel speed.…”

Section: Design Of Acceleration Slip Controllermentioning

confidence: 99%

Research on Decoupled Optimal Control of Straight-Line Driving Stability of Electric Vehicles Driven by Four-Wheel Hub Motors

2021

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The optimal control strategy for the decoupling of drive torque is proposed for the problems of runaway and driving stability in straight-line driving of electric vehicles driven by four-wheel hub motors. The strategy uses a hierarchical control logic, with the upper control logic layer being responsible for additional transverse moment calculation and driving anti-slip control; the middle control logic layer is responsible for the spatial motion decoupling for the underlying coordinated distribution of the four-wheel drive torque, on the basis of which the drive anti-skid control of a wheel motor-driven electric vehicle that takes into account the transverse motion of the whole vehicle is realized; the lower control logic layer is responsible for the optimal distribution of the driving torque of the vehicle speed following control. Based on the vehicle dynamics software Carsim2019.0 and MATLAB/Simulink, a simulation model of a four-wheel hub motor-driven electric vehicle control system was built and simulated under typical operating conditions such as high coefficient of adhesion, low coefficient of adhesion and opposing road surfaces. The research shows that the wheel motor drive has the ability to control the stability of the whole vehicle with large intensity that the conventional half-axle drive does not have. Using the proposed joint decoupling control of the transverse pendulum motion and slip rate as well as the optimal distribution of the drive force with speed following, the transverse pendulum angular speed and slip rate can be effectively controlled with the premise of ensuring the vehicle speed, thus greatly improving the straight-line driving stability of the vehicle.

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PID tuning approaches for quadrotors unmanned aerial vehicles

Mahfouz

Taiomour

Ashry

et al. 2021

IOP Conf. Ser.: Mater. Sci. Eng.

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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.

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PID vs. Backstepping Control for Cooperative Quadrotors Unmanned Aerial Vehicles

Cited by 7 publications

References 28 publications

Backstepping-ANFIS Hybrid Controller Design for Cooperative Quadrotors

Backstepping-ANFIS Hybrid Controller Design for Cooperative Quadrotors

Research on Decoupled Optimal Control of Straight-Line Driving Stability of Electric Vehicles Driven by Four-Wheel Hub Motors

PID tuning approaches for quadrotors unmanned aerial vehicles

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