Real-time tuning of PID controller based on optimization algorithms for a quadrotor

Can, Muharrem Selim; Ercan, Hamdi

doi:10.1108/aeat-06-2021-0173

Cited by 8 publications

(4 citation statements)

References 28 publications

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“…The control and trajectory tracking has been implemented PID controller for the quadrotor system in [8,[50][51][52][53]. The optimization techniques have also been used for the automatic tuning of the PID controller gain that is reported in [6,7,[54][55][56][57][58].…”

Section: Pid Controllermentioning

confidence: 99%

Comprehensive review of various control strategies for quadrotor unmanned aerial vehicles

Singh,

Kumar,

Kumar

2023

FME Transactions

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The Quadrotor Unmanned Aerial Vehicles (UAVs) have gained significant attention in recent years due to their versatile applications in civilian and military sectors. It is a highly nonlinear and underactuated system and an outdoor flight; it is always subjected to external disturbances due to wind gusts and other environmental factors. Implementing the control strategies could be improved in terms of high computational time, uncertainty, approximation error, and a large amount of training data. One of the major challenges in the development of quadrotors is the design of an efficient and reliable control system. This paper presents a comprehensive review of various control strategies for quadrotors and evaluates their performance. The review includes classical control techniques such as PID (Proportional-Integral-Derivative) and LQR (Linear Quadratic Regulator) and modern control strategies such as adaptive and fuzzy control. Comparative analysis of various control strategies has been presented with key challenges and future directions. This study provides a useful guide for researchers and engineers in the design of control systems for quadrotors.

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Section: Pid Controllermentioning

confidence: 99%

Comprehensive review of various control strategies for quadrotor unmanned aerial vehicles

Singh,

Kumar,

Kumar

2023

FME Transactions

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“…Generally, the optimal solution of minimizing problem 1 will shift from the average weight of the questionnaire to the direction of the maximum weight density of the questionnaire as a whole. The weight of one indicator can be obtained for each solution of minimizing problem 1, and the weight of each indicator x1, x2,…,x K can be obtained by solving it for K times [4][5].…”

Section: Introductionmentioning

confidence: 99%

Evolutionary Algorithm in the Evaluation Index System of Students' Comprehensive Moral Education Ability

Luo

2024

Proceedings of the 3rd International Conference on New Media Development and Modernized Education, NMDME 2023, October 13–15, 2

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In order to understand the application of evolutionary algorithms in the comprehensive evaluation of student moral education, an application research based on evolutionary algorithms in the comprehensive evaluation of student moral education has been proposed. Firstly, we conducted an in-depth analysis of various factors that need to be considered in the comprehensive evaluation system for college students, including moral quality, intellectual level, physical health, aesthetic taste, labor skills, etc. These factors are crucial in evaluating a student's overall quality. Next, we specifically considered the unique situation of students at China University of Geosciences and conducted a comprehensive evaluation of their qualities from different dimensions. These dimensions include moral and ethical qualities. This multidimensional evaluation can provide a more comprehensive understanding of students' qualities and potential. Finally, in order to determine the weights of various evaluation indicators more objectively, we adopted evolutionary algorithms to determine the dimensions of each quality and the weights of each indicator, in order to better reflect the overall quality of students. This not only improves the objectivity of evaluation index weights, but also provides strong support for developing more reasonable evaluation standards.

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“…It is to develop a more stable and controllable quadcopter that will both resist atmospheric noise and perform the task successfully by changing the hub angle and arm rise angle according to the type of mission in indoor and outdoor environments. For this purpose, determining the best PID coefficients (Can and Ercan, 2022), hub angle and arm rise angle is important for a stable and controllable flight. Simultaneous perturbation stochastic approximation (SPSA) optimization algorithm is used for quadrotor system to determine hub angle change and arm rise angle change with PID coefficients in lateral and longitudinal flight.…”

Section: Introductionmentioning

confidence: 99%

Simultaneous arm morphing quadcopter and autonomous flight system design

Kose,

Oktay,

Özen

2023

AEAT

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Purpose The purpose of this paper is to obtain values that stabilize the lateral and longitudinal flight of the quadrotor for which the morphing amount and the best Proportional-Integral-Derivative (PID) coefficients are determined by using the simultaneous perturbation stochastic approximation (SPSA) optimization algorithm. Design/methodology/approach Quadrotor consists of body and arms; there are propellers at the ends of the arms to take off and rotors that rotate them. By reducing the angle between mechanism 1 and the rotors with the horizontal plane, the angle between mechanism 2 and the arms, the rotors rise and different configurations are obtained. Conventional multi-rotor aircraft has a fixed fuselage and does not need a tail rotor to change course as helicopters do. The translational and rotational movements are provided by the rotation of the rotors of the aircraft at different speeds by creating moments about the geometric center in 6-degree-of-freedom (DOF) space. These commands sent from the ground are provided by the flight control board in the aircraft. The longitudinal and lateral flight stability and properties of different configurations evaluated by dynamic analysis and simulations in 6 DOF spaces are investigated. An algorithm and PID controller are being developed using SPSA to achieve in-flight position and attitude control of an active deformable aircraft. The results are compared with the results of the literature review and the results of the previous article. Findings With SPSA, the best PID coefficients were obtained in case of morphing. Research limitations/implications The effects of quadrotor arm height and hub angle changes affect flight stability. With the SPSA optimization method presented in this study, the attitude is quickly stabilized. Practical implications With the optimization method, the most suitable PID coefficients and angle values for the lateral and longitudinal flight stability of the quadrotor are obtained. Social implications The transition rate and PID coefficients are determined by using the optimization method, which is advantageous in terms of cost and practicality. Originality/value With the proposed method, the aircraft can change shape to adapt to different environments, and the parameters required for more stable flight for each situation will be calculated, and this will be obtained more quickly and safely with the SPSA optimization method.

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Real-time tuning of PID controller based on optimization algorithms for a quadrotor

Cited by 8 publications

References 28 publications

Comprehensive review of various control strategies for quadrotor unmanned aerial vehicles

Comprehensive review of various control strategies for quadrotor unmanned aerial vehicles

Evolutionary Algorithm in the Evaluation Index System of Students' Comprehensive Moral Education Ability

Simultaneous arm morphing quadcopter and autonomous flight system design

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