Real Time Trajectory Tracking Control of a Quadrotor Using Fractional PI Control

Year 2016, Volume: 6 Issue: 3, 49 - 56, 30.09.2016

Abdullah Başçi

Abstract

In this paper, real-time trajectory tracking control of a four propellers Unmanned Aerial
Vehicle (UAV) called the Quadrotor, also known as micro helicopters is realized by using fractional-Order Proportional-Integral (FOPI) controller. A well-tuned conventional Proportional-Integral (PI)
controller is also applied to the UAV for comparison with the FOPI controller. Micro UAV is equipped
with GPS, sonar, camera and low cost inertial sensors. PI and FOPI control methods are applied to a
Quadrotor in the indoor for tracking helix and lazy eight reference route respectively. Results are given
for both controllers and performances are compared.  

Keywords

Fractional order PI, quadrotor, trajectory tracking, UAV

Quadrotor’un Yörünge Takibinin Kesir Dereceli PI Kontrolcü ile Gerçek Zamanlı Kontrolü

Abstract

Bu çalışmada Quadrotor olarak adlandırılan ve dört pervaneli İnsansız Hava Aracı (İHA) olarak da bilinen mikro helikopterin yörünge kontrolü Kesir Dereceli Oransal-İntegral (KDPI) kontrolcü
ile gerçek zamanlı olarak gerçekleştirilmiştir. Ayrıca, KDPI kontrolcünün performansını karşılaştırmak
amacı ile parametreleri iyi uyarlanmış klasik Oransal-İntegral (PI) kontrolcü ile de Quadrotor’un yö-
rünge kontrolü gerçekleştirilmiştir. Deneysel çalışmada kullanılan mikro İHA GPS, sonar, kamera ve
düşük maliyetli atalet sensörleriyle donatılmıştır. PI ve KDPI kontrol yöntemleri kapalı ortamda deney
düzeneği olarak belirlenen Quadrotor’a helix ve sonsuz referans rota takibi için ayrı ayrı uygulanmış ve
her iki kontrolcüye ait deneysel sonuçlar verilerek kontrolcü performansları kıyaslanmıştır.  

Keywords

İHA, kesir dereceli PI, quadrotor, yörünge takibi

References

• Achtelik M, Bachrach A, He R, Prentice S, Roy N, 2009. Stereo vision and laser odometry for autonomous helicopters in GPS-denied indoor environments. SPIE Unmanned Systems Technology XI. 7332 (1) :733219-10.
• Altuğ E, James PO, Robert M, 2002. Control of a Quadrotor helicopter using visual feedback. Robotics and Automation. IEEE International Conference on, 11-15 May 2002, Washington, USA.
• Blöandsch M, Weiss S, Scaramuzza D, Siegwart R, 2010. Vision based MAV navigation in unknown and unstructured environments. IEEE Int. Conf. on Robotics and Automation, 3-8 May 2010, Anchorage, Alaska.
• Bouabdallah S, and Siegwart R, 2005. Backstepping and sliding-mode techniques applied to an indoor micro Quadrotor. Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 18-22 April 2005, Barcelona, Spain.
• Bouabdallah S, Noth A, and Siegwart R, 2004. PID vs LQ control techniques applied to an indoor micro Quadrotor. IEEE/RSJ International Conference on Intelligent Robots and Systems, 28 Sept.-2 Oct. 2004, Sendal, Japan
• Das S, 2008. Functional Fractional Calculus for System Identifcation and Control. First Edition, Berlin Heidelberg New York. 612 p.
• Hoffmann GM, Huang H, Waslander SL, Tomlin CJ, 2007. Quadrotor helicopter flight dynamics and control: Theory and experiment. Proc. of the AIAA Guidance, Navigation, and Control Conference, 21-23 August 2007, South Carolijna, USA.
• Hoffmann, GM, Steven L. Waslander, and Claire J T, 2008. Quadrotor helicopter trajectory tracking control. AIAA guidance, navigation and control conference and exhibit, 18-21 August 2008, Hanolulu, Hawai.
• Kanojiya, R G. and Meshram, P M., 2012. Optimal Tuning of PI Controller for Speed Control of DC motor drive using Particle Swarm Optimization. International Conference Advances in Power Conversion and Energy Technologies, 2-4 August 2012, Andhra Pradesh, India.
• Kendoul F, Zhenyu Y, and Kenzo N, 2010. Guidance and nonlinear control system for autonomous flight of mini rotorcraft unmanned aerial vehicles. Journal of Field Robotics, 27(3): 311-334.
• Krajnik T, Vonasek V, Fiser D, Faigl J, 2011. AR-Drone as a Platform for Robotic Research and Education. In: Research and Education in Robotics: EUROBOT 2011, Berlin, pp:172-186.
• Luo Y, Wang C, and Chen Y Q, 2009. Analytical design of fractional order proportional integral and [proportional integral] controllers for robust velocity servo. in Proceedings of the 4th IEEE Conference on Industry Electronics and Applications , 25-27 May 2009, Xi’an, China.
• Mellinger D, Michael N, Kumar V, 2014. Trajectory generation and control for precise aggressive maneuvers with Quadrotors. International Symposium on Experimental Robotics, 79:361- 373.
• Michael N, Fink J, Kumar V, 2011. Cooperative manipulation and transportation with aerial robots. Autonomous Robots, 30: 73–86.
• Monje CA, Chen YQ, Vinagre BM, Xue D, and Feliu V, 2010. Fractional-order systems and controls fundamentals and applications. New York, USA, 415 p.
• Oldham K B and Spanier J, 1974. The Fractional Calculus. New York, USA.
• Podlubny I, 1999-a. Fractional Differential Equations. San Diego, California.
• Podlubny I, 1999-b. Fractional-order systems and PIλ Dµ controllers, IEEE Transactions on Automatic Control, 44(1): 208– 214.
• Qianying L, 2014. Grey-Box System Identifcation of a Quadrotor Unmanned Aerial Vehicle. Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, MSc Thesis.
• Ramezanian H, and Balochian S, 2013. Optimal design a fractional order PID controller using particle swarm optimization algorithm. International Journal of Control and Automation 6(4):55–68.
• Solc F, 2007. Modelling and control of a quadcopter. Advanced in Military Technology 1:29–38.
• Tayebi A. and McGillivray S, 2006. Attitude Stabilization of a VTOL Quadrotor Aircraft. IEEE Transactions on Control Systems Technology 14: 562-571.
• Valerio D. and Sa da Costa J, 2005. Time Domain Implementation of Fractional Order Controllers. IEE Proc. Control Theory and Appls. 152(5):539-552.
• Xue D, Zhao C, and Chen Y Q, 2006. Fractional order PID control of a DC-Motor with elastic shaft: A case study. in Proc. of American Control Conference, 2006, Minnesota, USA.
• Zhao B, Xian B, Zhang Y, Zhang X, 2015. Nonlinear robust adaptive tracking control of a quadrotor UAV via immersion and invariance methodology. , IEEE Transactions on Industrial Electronics 62(5): 2891-2902.