Journal of IKEEE (전기전자학회논문지)

Institute of Korean Electrical and Electronics Engineers (한국전기전자학회)
권호 표지
DOI QR코드

DOI QR Code

Analysis and design of -PID controller for a quadrotor in the frequency domain

  • Alhassan Dodo Adamou Soudeize (Dept. of Electrical Engineering, Dong-A University) ;
  • Ji-Sun Park (Dept. of Electrical Engineering, Dong-A University) ;
  • Ho-Lim Choi (Dept. of Electrical Engineering, Dong-A University)
  • Received : 2024.07.09
  • Accepted : 2024.07.31
  • Published : 2024.09.30
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we propose an ⲉ-PID controller for the altitude control of the quadrotor from the ground by considering the mass of the AR Drone and external disturbance. The first part consists of modeling the quadrotor and carrying out the system analysis with the proposed controller and the second part consists of carrying out the experiment in the lab to show that our control method along with the analysis coincides with the experiment.

Keywords

Acknowledgement

This work was supported by the National Research Foundation of Korea(NRF) grant funded by the Korea government (MSIT) (No. 2023R1A2C1002832).

References

  1. X. Zhu, "Analysis of military application of UAV swarm technology," 2020 3rd International Conference on Unmanned Systems (ICUS), pp. 1200-1204, 2020. DOI: 10.1109/ICUS50048.2020.9274974
  2. K. Su, L. Lin, X. Zhang, C. Chen, and Y. Tian, "Design of the outdoor cruising control system of the quadrotor drone," IOP Conference Series: Earth and Environmental Science, vol.632, pp. 14449-14453, 2021. DOI: 10.1088/1755-1315/632/2/022062
  3. A. M. Kamel, Y. Z. Elhalwagy, A. H. Ahmed, and A. N. Ouda, "Attitude stabilization and altitude control of quadrotor," 2016 12th International Computer Engineering Conference (ICENCO), vol. 632, pp.14449-14453, 2016. DOI: 10.1109/ICENCO.2016.7856456
  4. H. Gu Z. Li, S. Shen X. Lyu, J. Zhou, and F. Zhang, "Disturbance observer based hovering control of quadrotor tail-sitter vtol uavs using hsynthesis," IEEE Robotics and Automation Letters, vol.3, pp.2910-2917, 2018. DOI: 10.1109/LRA.2018.2847405
  5. S. Jung, S. H. Jeong, and M. Tomizuka, "Attitude control of a quad-rotor system using an acceleration based disturbance observer: An empirical approach," Proc. IEEE/ASME Int. Conf. Adv. Intell. Mechatron, vol.3, pp.916-921, 2012. DOI: 10.1109/AIM.2012.6265965
  6. H. Wang and M. Chen, "Trajectory tracking control for an indoor quadrotor uav based on the disturbance observer," Trans. Inst. Meas. Control, vol.38, pp.675-692, 2016. DOI: 10.1177/0142331215597057
  7. S. Wang, Z. Miao, Q. Lin, J. Lin, J. Zeng, L. Chen, and Y. Wang., "Error state model predictive control of quadrotors on se(3)*," 2023 IEEE International Conference on Real-time Computing and Robotics (RCAR), pp.152-157, 2023. DOI: 10.1109/RCAR58764.2023.10249513
  8. Y.-C. Um and H.-L. Choi, "An event-triggered γ-sliding mode controller for hovering control of a quadrotor with uncertain time-varying mass and external disturbance," International Journal of Control, Automation and Systems, vol.20, pp. 3372-3382, 2022.
  9. J.-S. Park, S.-Y. Oh, and H.-L. Choi, "Hovering control of quadrotor system using a selection algorithm for control gains and gain-scaling factors," The Transactions of the korean Institute of Electrical Engineers, vol.69, no.12, pp.1916-1928, 2020. DOI: 10.5370/KIEE.2020.69.12.1916
  10. A. D.-A. Soudeize, J.-S. Park, and H.-L. Choi, "Regulation control of a dc motor by ε-pid controller based on the frequency response analysis," International Journal of Control, Automation and Systems, vol.20, pp.3372-3382, 2023.
  11. H.-L. Choi and J.-T. Lim, "On robust position control of dc motors by ε-pid controller and its application to humanoid robot arms," 17th IFAC World Congress (IFAC'08), vol.41, pp.14449-14453, 2008.
  12. G. F. Franklin, J. D. Powell, and A. Emami-Naeini. Feedback Control of Dynamic Systems. Pearson, 2020.