scholarly journals Scheduling PID Attitude and Position Control Frequencies for Time-Optimal Quadrotor Waypoint Tracking under Unknown External Disturbances

Sensors ◽  
2021 ◽  
Vol 22 (1) ◽  
pp. 150
Author(s):  
Cheongwoong Kang ◽  
Bumjin Park ◽  
Jaesik Choi
Keyword(s):  
Pid Control ◽  
Attitude Control ◽  
Environmental Changes ◽  
Position Control ◽  
External Disturbances ◽  
Quadrotor Control ◽  
Control Frequency ◽  
Time Optimal ◽  
The Given ◽  
Localization Time

Recently, the use of quadrotors has increased in numerous applications, such as agriculture, rescue, transportation, inspection, and localization. Time-optimal quadrotor waypoint tracking is defined as controlling quadrotors to follow the given waypoints as quickly as possible. Although PID control is widely used for quadrotor control, it is not adaptable to environmental changes, such as various trajectories and dynamic external disturbances. In this work, we discover that adjusting PID control frequencies is necessary for adapting to environmental changes by showing that the optimal control frequencies can be different for different environments. Therefore, we suggest a method to schedule the PID position and attitude control frequencies for time-optimal quadrotor waypoint tracking. The method includes (1) a Control Frequency Agent (CFA) that finds the best control frequencies in various environments, (2) a Quadrotor Future Predictor (QFP) that predicts the next state of a quadrotor, and (3) combining the CFA and QFP for time-optimal quadrotor waypoint tracking under unknown external disturbances. The experimental results prove the effectiveness of the proposed method by showing that it reduces the travel time of a quadrotor for waypoint tracking.

scholarly journals Simulation and experimental study on PID control of a quadrotor MAV with perturbation

2020 ◽  
Vol 9 (5) ◽  
pp. 1811-1818
Author(s):  
A. Noordin ◽  
M. A. M. Basri ◽  
Z. Mohamed
Keyword(s):  
Pid Control ◽  
Gaussian Noise ◽  
Position Control ◽  
Area Network ◽  
Proportional Integral Derivative ◽  
External Disturbances ◽  
Control Scheme ◽  
Air Vehicle ◽  
Simulation Parameter ◽  
Personal Area Network

This paper presents a proportional-integral-derivative (PID) flight controller for a quadrotor micro air vehicle (MAV). The MAV (Parrot Mambo minidrones) is small, therefore, a slight perturbation will affect its performance. Hence, for the actuated dynamics, roll (ϕ), pitch (θ), yaw (ψ), and z stabilization, a PID control scheme is proposed. Furthermore, the same controller technique is also applied for under-actuated dynamics x and y position control. The newtonian model is simulated using simulink with a normal Gaussian noise of force as external disturbances. using simulink support package for Parrot Minidrones by MATLAB and based on the simulation parameter, the algorithm is deployed using Bluetooth® Low energy connection via personal area network (PAN). A slight force by hand is applied as perturbation during hovering to investigation system performances. Finally, the simulation and experimental on this commercial MAV, Parrot Mambo minidrones shows good performance of the flight controller scheme in the presence of external disturbances.

Time-Optimal Coordination Control for the Gear-Shifting Process in Electric-Driven Mechanical Transmission (Dog Clutch) without Impacts

2020 ◽  
Vol 9 (2) ◽  
pp. 155-168
Author(s):  
Ziwang Lu ◽  
◽  
Guangyu Tian ◽  
Keyword(s):  
Control Strategy ◽  
Position Control ◽  
Control Method ◽  
Synchronization Control ◽  
Mechanical Transmission ◽  
Coordination Control ◽  
Optimal Position ◽  
Drive Motor ◽  
Time Optimal ◽  
Optimal Coordination

Torque interruption and shift jerk are the two main issues that occur during the gear-shifting process of electric-driven mechanical transmission. Herein, a time-optimal coordination control strategy between the the drive motor and the shift motor is proposed to eliminate the impacts between the sleeve and the gear ring. To determine the optimal control law, first, a gear-shifting dynamic model is constructed to capture the drive motor and shift motor dynamics. Next, the time-optimal dual synchronization control for the drive motor and the time-optimal position control for the shift motor are designed. Moreover, a switched control for the shift motor between a bang-off-bang control and a receding horizon control (RHC) law is derived to match the time-optimal dual synchronization control strategy of the drive motor. Finally, two case studies are conducted to validate the bang-off-bang control and RHC. In addition, the method to obtain the appropriate parameters of the drive motor and shift motor is analyzed according to the coordination control method.

scholarly journals Position Control of Ultrasonic Motor Using IMC-PID Combined with Tribes Type NN Algorithm

2011 ◽  
Vol 2-3 ◽  
pp. 12-17
Author(s):  
Sheng Lin Mu ◽  
Kanya Tanaka
Keyword(s):  
Neural Network ◽  
Particle Swarm Optimization ◽  
Pid Control ◽  
Position Control ◽  
Back Propagation ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Ultrasonic Motor ◽  
Swarm Optimization

In this paper, we propose a novel scheme of IMC-PID control combined with a tribes type neural network (NN) for the position control of ultrasonic motor (USM). In this method, the NN controller is employed for tuning the parameter in IMC-PID control. The weights of NN are designed to be updated by the tribes-particle swarm optimization (PSO) algorithm. This method makes it possible to compensate for the characteristic changes and nonlinearity of USM. The parameter-free tribes-PSO requires no information about the USM beforehand; hence its application overcomes the problem of Jacobian estimation in the conventional back propagation (BP) method of NN. The effectiveness of the proposed method is confirmed by experiments.

The Improved Design of Test Machine Linear-Velocity Closed-Loop Control Circuit

2013 ◽  
Vol 365-366 ◽  
pp. 874-877
Author(s):  
Chang Hai Li ◽  
Yuan Tao Yu ◽  
Shi Yang Ma ◽  
Yan Chun Liu
Keyword(s):  
Pid Control ◽  
Control Algorithm ◽  
Response Speed ◽  
Test Machine ◽  
Static Error ◽  
Loop Control ◽  
Improved Design ◽  
Value Changes ◽  
The Given ◽  
Control Accuracy

Incremental PID has its shortcomings: great integral truncation effect, static error and spillover affect. In the control system, the controller system is required having a quick response speed, and also a certain anti-interference ability. When adopting the improved differential PID control algorithm, only the output differential is made, instead of the given values. So, when a given value changes, the output will not change, and the controlled quantity change is usually mild, in which case the control accuracy is improved, and the system dynamic characteristics is greatly improved.

scholarly journals Nonlinear Hybrid Controller for a Quadrotor Based on Sliding Mode and Backstepping

2015 ◽  
Vol 4 (3) ◽  
pp. 209
Author(s):  
Chuan Lian Zhang ◽  
Kil To Chong
Keyword(s):  
Attitude Control ◽  
Position Control ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Control Law ◽  
Dynamics Modeling ◽  
Hybrid Controller ◽  
Navigation Simulation ◽  
Waypoint Navigation ◽  
Nonlinear Hybrid

<span>In this paper, one nonlinear hybrid controller, based on backstepping and sliding mode, was developed and applied to a quadrotor for waypoint navigation application. After dynamics modeling, the whole quadrotor dynamics system could be divided into two subsystems: rotational system and translational system. Backstepping control law was derived for attitude control whereas sliding mode control law was developed for position control. By using Lyapunov theory and satisfying sliding stable rules, the convergence of system could be guaranteed. A nonlinear equation was proposed to solve the under-actuated problem. To validate the effectiveness of proposed nonlinear hybrid controller, waypoint navigation simulation was performed on the nonlinear hybrid controller. Results showed that the nonlinear hybrid controller finished waypoint navigation successfully.</span>

Controlled inertia tensor of a transformable spacecraft

2021 ◽  
Author(s):  
R.P. Simonyants ◽  
N.A. Alekhin ◽  
V.A. Tarasov
Keyword(s):  
Attitude Control ◽  
Dynamic Properties ◽  
Operating Conditions ◽  
Inertia Tensor ◽  
Simplified Model ◽  
Diagonal Form ◽  
Transformation Mechanism ◽  
External Disturbances ◽  
Type Transformation ◽  
Gravitational Moment

A simplified model of a transformable spacecraft is considered, including a rod-type transformation mechanism with movable weights. The mechanism can be used to adapt the dynamic properties of the spacecraft to the environment or the operating conditions of on-board systems, for example, to counter the moments of external disturbances during attitude control and angular stabilization. By changing the position of the transformation mechanism, the spacecraft inertia tensor can be put in diagonal form, which makes it possible to exclude the force interconnections between the channels and to eliminate the constant component of the gravitational moment. For a simplified model of the transformation mechanism, we establish the analytical dependence of the components of the inertia tensor on the parameters determining the position of the transformation mechanism. It is shown that by adjusting the moving mass, which is 0.5% of the entire spacecraft mass, we obtain the spacecraft configuration that ensures the diagonality of the inertia tensor.

Sign in / Sign up

Export Citation Format

Share Document