INVESTIGATION OF ROUTE TRACKING PERFORMANCE WITH ADAPTIVE PID CONTROLLER IN QUADROTOR

Year 2020, Volume: 10 Issue: 1, 160 - 172, 01.06.2020

Ayşegül Sunay Aytaç Altan Egemen Belge Rifat Hacıoğlu

https://doi.org/10.36222/ejt.652828

Cited By: 13

Abstract

Depending on the intended use, the UAV must either be able to calculate the route itself to follow or be loyal to the predetermined route. In addition, in some cases, it is of paramount importance to follow the route, reduce the cost and follow the route in the most accurate way, especially under difficult conditions. The aim of this study is to investigate the system modeling of quadrotor to design the position and route following control algorithms of the system which is based on this modeling and to simulate the mentioned algorithms with adaptive PID controller. Firstly, system modeling and mathematical equations were developed. Secondly, the simulation environment was created through the MATLAB program. Route tracking in this simulation environment was performed on three different geometries, rectangle,infiniti, spiral route tracking and the rate of the quadrotor on these routes and the amount of error were determined. The comparison of these geometric shapes revealed the necessity of adaptive PID approaches in cases of sudden maneuvers.

Keywords

Quadrotor, UAV modeling, Route Tracking, Adaptive PID Controller

Supporting Institution

Zonguldak Bülent Ecevit University

Project Number

BEU-BAP, 2014-75737790-01

Thanks

This study was supported by Zonguldak Bülent Ecevit University (BAP Project No: 2014-75737790-01). The authors would like to thank Zonguldak Bülent Ecevit University for the support. Preliminary resuts of this study had been presented in INERS’19 symposium.

References

• [1] Maza, I., Kondak, K., Bernard, M., and Ollero A. (2010). Multi-UAV Cooperation and Control for Load Transportation and Deployment, Journal of Intel. and Robotic Syst., 57, 417-449.
• [2] Demir, B.E., Bayır, R. and Duran, F. (2016). Real-time trajectory tracking of an unmanned aerial vehicle using a self-tuning fuzzy proportional integral derivative controller, International Journal of Micro Air Vehicles, 8(4), 252-268.
• [3] Altan A., Köksal K., and Hacıoğlu R.(2017). Vektör Alan Kılavuzu Yöntemi ile Görsel Çizgi Takibi için İnsansız Hava Aracı Üzerindeki Yalpanın Model Öngörülü Denetimi, Karaelmas Fen ve Mühendislik Dergisi, 7 (1): 218-227.
• [4] Tosun, D.C., Işık, Y., and Korul, H. (2015). Comparision of PID and LQR controllers on a quadrotor helicopter, International Journal of Systems Applications, Eng. & Develop.9, 136-143.
• [5] Köksal, K., Sürücü, D., Sürücü, M., and Hacıoğlu, R, (2014). Visual Line Tracking with Vector Field Guidance for UAV, 22nd Sign. Proc. Comm. App. Conf., Trabzon, Turkey, 646-649.
• [6] Gümüşboğa, İ., (2013). İnsansız Hava Araçları için Rota Planlaması, Otomatik Kontrol Ulusal Toplantısı, TOK2013, Malatya, Turkey, 547-616.
• [7] Sabatino, F., Quadrotor Control: Modeling, Nonlinear Control Design and Simulation, Master Thesis, KTH Vetenskap Och Konst, KTH Electrical Engineering, Stockholm, Sweden, 2015.
• [8] Selim, E., Uyar, E., and Avcı, M. (2013). Quadrocopterin Matematiksel Modeli ve Kontrolü, Otomatik Kontrol Ulusal Toplantısı, TOK2013, Malatya, Turkey, 548-551.
• [9] Hernandez, A., Murcia, H., Copot, C., and Keyser, R.D. (2014). Model Predictive Path-Following Control of an AR. Drone Quadrotor, Memorias del XVI Congreso Latinoamericano de Control Automático, México, 618-623.
• [10] Li J and Li Y, (2011). Dynamic Analysis and PID Control for a Quadrotor, International Conference on Mechatronics and Automation (ICMA), 7-10 August 2011, 573-578.
• [11] Zulu A and John S, (2014). A Review of Control Algorithms for Autonomous Quadrotors, Open Journal of Applied Sciences, 4, 547-556.
• [12] Tanyer A, Tatlicioglu E and Zergeroglu E, (2017). Model Reference Tracking Control of An Aircraft: A Robust Adaptive Approach”, Int. Journal of Systems Science, 48 (7): 1428-1437.
• [13] Akgun O, Subasi E and Turker T, (2017) A Lyapunov Based Model Reference Adaptive Control of A Quadrotor”, Int. Conference on Elec.-Electronics Eng. (ELECO), Bursa, Turkey, 1-5.