Internal Model Control Tuned Proportional Integral Derivative for Quadrotor Unmanned Aerial Vehicle Dynamic Model

Control Theory and Informatics Pub Date : 1900-01-01 DOI:10.7176/cti/9-01

Tooki Oluwaseun Olayinka, A. A. Olatide, Aborisade David Oluwagbemiga, M. Okelola

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引用次数: 3

Abstract

In recent times, there are has been growing substantive attention to the quadrotor Unmanned Aerial Vehicle (UAV) stability control. However, inherent nonlinearity is a major challenge with this control technique, this paper, therefore, developed a PID based Internal Model Control (IMC) method for the dynamic model of quadrotor UAV. The versatility and simplicity of the Proportional-Integral-Derivative (PID) controller enable it to enjoy wide usage and acceptability as stability control methods for the unmanned aerial vehicles. The aim of this paper is to use the PID controller with IMC to control a UAV. The proposed approach - IMC-PID control method -was simulated using MATLAB software and X-plane flight simulator. Thereafter, a comparative analysis of the IMC-PID control method with Chien-Hrones-Reswick, Cohen-coon, and Ziegler Nichols based PID Controllers was done using pitch and altitude as performance metrics. Keywords: Internal Model Control,MATLAB/Simulink , Proportional Integral Derivative, Quadrotor, Unmanned Aerial Vehicle (UAV),X-Plane, DOI: 10.7176/CTI/9-01 Publication date: April 30 th 2020

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四旋翼无人机动力学模型的内模控制调谐比例积分导数

近年来，四旋翼无人机(UAV)的稳定性控制受到越来越多的关注。然而，固有的非线性是这种控制技术的主要挑战，因此，本文开发了一种基于PID的四旋翼无人机动态模型内模控制(IMC)方法。比例-积分-导数(PID)控制器的通用性和简单性使其作为无人机的稳定控制方法具有广泛的用途和可接受性。本文的目的是利用带IMC的PID控制器对无人机进行控制。利用MATLAB软件和X-plane飞行模拟器对所提出的IMC-PID控制方法进行了仿真。然后，以俯仰和高度作为性能指标，对IMC-PID控制方法与基于Chien-Hrones-Reswick、Cohen-coon和Ziegler Nichols的PID控制器进行了比较分析。关键词:内模控制，MATLAB/Simulink，比例积分导数，四旋翼飞行器，无人机，X-Plane, DOI: 10.7176/CTI/9-01

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Control Theory and Informatics

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