Hybrid Quasi-Optimal PID-SDRE Quadrotor Control
Abstract
:1. Introduction
- Development of a flight controller for quad tilt-wing UAV that during its transition flight (with the change of wing angle) will be able to deal with high nonlinearity in this situation and provide drone stability [10];
- Development of a suboptimal integral sliding mode trajectory tracking anti-interference controller based on the state-dependent Riccati equation [11];
- Development of non-linear controllers for cargo UAVs to obtain precise robot flight and efficient reduction of load oscillations by exploiting the natural coupling between horizontal UAV movement and payload oscillation [12].
- Optimal attitude stabilization and control with finite time;
- An increasing precise attitude control method;
- Elimination of the PID stabilizer and the tuning problem.
2. Quadrotor Model
3. Control System Design
3.1. PID-SDRE Attitude Controller
- PID controller without SDRE stabilizer;
- SDRE feedback compensator neglecting PID stabilizer.
3.2. P-PID Attitude Controller
3.3. Finite-Time SDRE Stabilizer
4. Experimental Results
4.1. UAV Used in Simulation Experiments
- Take-off mass: 13 kg,
- Max. flight time: 40 min,
- Flight range: 4.5 kg,
- Optimal flight speed: 30 km/h,
- Max. flight speed: 60 km/h.
4.2. Simulation Experiments
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
Abbreviations
BF | Body Frame |
EF | Earth Frame |
EKF | Extended Kalman Filter |
GPS | Global Positioning System |
INS | Inertial Navigation System |
NED | North-East-Down |
PID | Proportional–Integral–Derivative Controller |
QTW UAV | Quad Tilt-Wing Unmanned Aerial Vehicle |
SDC | State-Dependent Coefficient |
SDRE | State-Dependent Riccati Equation |
UAV | Unmanned Aerial Vehicle |
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Giernacki, W.; Stępień, S.; Chodnicki, M.; Wróblewska, A. Hybrid Quasi-Optimal PID-SDRE Quadrotor Control. Energies 2022, 15, 4312. https://doi.org/10.3390/en15124312
Giernacki W, Stępień S, Chodnicki M, Wróblewska A. Hybrid Quasi-Optimal PID-SDRE Quadrotor Control. Energies. 2022; 15(12):4312. https://doi.org/10.3390/en15124312
Chicago/Turabian StyleGiernacki, Wojciech, Sławomir Stępień, Marcin Chodnicki, and Agnieszka Wróblewska. 2022. "Hybrid Quasi-Optimal PID-SDRE Quadrotor Control" Energies 15, no. 12: 4312. https://doi.org/10.3390/en15124312