In order to analyze the dynamic characteristics and PID controller performance of a quadrotor, this paper firstly describes the architecture of the quadrotor and analyzes the dynamic model of it. Then, based on the classic scheme of PID control, this paper designs a controller, which aims to regulate the posture (position and orientation) of the 6 d.o.f. quadrotor. Thirdly, the dynamic model is implemented in Matlab/Simulink simulation, and the PID control parameters are obtained according to the simulation results. Finally, a quadrotor with PID controllers is designed and made. In order to do the experiment, a flying experiment for the quadrotor has been done. The results of flying experiment show that the PID controllers robustly stabilize the quadrotor.

Dynamic analysis and PID control for a quadrotor

Nonsingular terminal sliding mode control for a quadrotor UAV with a total rotor failure

Nowadays, aerial robots or Unmanned Aerial Vehicles (UAV) have many applications in civilian and military fields. For example, of these applications is aerial monitoring, picking loads and moving them by different grippers. In this research, a quadrotor with a cable-suspended load with eight degrees of freedom is considered. The purpose is to control the position and attitude of the quadrotor on a desired trajectory in order to move the considered load with constant length of cable. So, the purpose of this research is proposing and designing an antiswing control algorithm for the suspended load. To this end, control and stabilization of the quadrotor are necessary for designing the antiswing controller. Furthermore, this paper is divided into two parts. In the first part, dynamics model is developed using Newton-Euler formulation, and obtained equations are verified in comparison with Lagrange approach. Consequently, a nonlinear control strategy based on dynamic model is used in order to control the position and attitude of the quadrotor. The performance of this proposed controller is evaluated by nonlinear simulations and, finally, the results demonstrate the effectiveness of the control strategy for the quadrotor with suspended load in various maneuvers.

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Dynamics Modeling and Control of a Quadrotor with Swing Load

Basic structure of Quadrotor Unmanned Helicopter (QUH) and its practical application values are introduced as well as several control algorithms, such as, intelligent PID algorithm, linear quadratic LQR algorithm, H∞ loop-shaping algorithm, sliding mode control algorithm, feedback linearization control algorithm, adaptive control algorithm and backstepping design algorithm and then analyses merits and drawbacks of above control algorithms. At last, our research prospects the major research aspects and development direction on future researches of QUH.

A survey of control algorithms for Quadrotor Unmanned Helicopter

The attitude control problem is addressed for a quadrotor system subject to the modeling uncertainties and unknown disturbances. A novel attitude control scheme is proposed based on nonsingular fast terminal sliding mode (NFTSM) technique. First, the tracking differentiator (TD) is designed to obtain the smooth tracking signal and its derivative. Then, the extended state observer (ESO) is constructed to provide the estimate of the modeling uncertainties and unknown disturbances. With the designed TD and ESO, a novel NFTSM controller is developed such that tracking error converges to zero in finite time. The transient-state and the steady-state performances are both achieved with the new controller. Finally, the simulation and real experiment results verify the effectiveness and superiority of the proposed control method.

Tracking differentiator and extended state observer-based nonsingular fast terminal sliding mode attitude control for a quadrotor

Based on the classic scheme of proportional , integral and derivative (PID) control, we present the design of a nonlinear controller, which aims to regulate the posture (position and orientation) of a 6 d.o.f. (degrees of freedom) aerial vehicle called Quadrotor. In particular, the Quadrotor horizontal position is controlled by PI actions, while the Quadrotor orientation and vertical position are controlled by PID algorithms. The controller shows robustness to aircraft systems effects, such as Coriolis forces and aerodynamic drag, although only the effect of gravitational forces is compensated. The controller performance is verified by numerical tests.

A New Nonlinear PI/PID Controller for Quadrotor Posture Regulation

In this paper, the trajectory tracking control of robot manipulators is studied from the theoretical and practical point of view. By using the theory of singularly perturbed systems, a class of PD-type robust controllers is introduced. Our analysis departs from parameterizing the proportional and derivative gains with a perturbing parameter. We prove that the smaller the value of perturbing parameter, the smaller the ultimate bound of the joint position tracking error. Derived from the introduced analysis, two forms of extending the proposed class of controllers are discussed. In one, error-varying PD gains are considered while in the another one, a dynamic extension to avoid joint velocity measurements is incorporated. An experimental study in a planar two degrees-of-freedom direct-drive robot is also presented. Under similar implementation conditions, four controllers are tested. The best performance is obtained for a nonlinear PD controller derived from the proposed class of controllers.

Time-scale separation of a class of robust PD-type tracking controllers for robot manipulators.

In this paper, a new motion controller for a quadrotor aircraft is introduced. A reformulation of the control inputs of the dynamic model is discussed and then the control algorithm is given in a constructive form. The stability proof of the state space origin of the overall closed-loop system relies on the theory of singularly perturbed systems. Numerical simulations corroborate the viability of the proposed control scheme and the conclusions concerning stability. A set of simulations under practical conditions is also presented, where the system is affected by different types of disturbances and nonlinearities such as noise and actuator saturation.

https://journals.sagepub.com/doi/pdf/10.5772/56785

Salvador González-Vázquez

Papers

A New Nonlinear PI/PID Controller for Quadrotor Posture Regulation

Time-scale separation of a class of robust PD-type tracking controllers for robot manipulators.

Motion Control of a Quadrotor Aircraft via Singular Perturbations