Modelling and PSO fine-tuned PID control of quadrotor UAV
This paper describes nonlinear dynamics model of x-configuration quadrotor using Newton-Euler modelling technique. To stabilize quadrotor attitude (roll (φ), pitch (θ), yaw (ψ)) during hovering, a PID controller is proposed. There is individual PID controller for each roll, pitch, yaw and z where 12...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Insight Society,
2017.
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| Subjects: | |
| Online Access: | Get fulltext |
| LEADER | 01355 am a22001693u 4500 | ||
|---|---|---|---|
| 001 | 80830 | ||
| 042 | |a dc | ||
| 100 | 1 | 0 | |a Noordin, A. |e author |
| 700 | 1 | 0 | |a Basri, M. A. M. |e author |
| 700 | 1 | 0 | |a Mohamed, Z. |e author |
| 700 | 1 | 0 | |a Abidin, A. F. Z. |e author |
| 245 | 0 | 0 | |a Modelling and PSO fine-tuned PID control of quadrotor UAV |
| 260 | |b Insight Society, |c 2017. | ||
| 856 | |z Get fulltext |u http://eprints.utm.my/id/eprint/80830/1/AminurrashidNoordin2017_ModellingandPSOFineTunedPIDControl.pdf | ||
| 520 | |a This paper describes nonlinear dynamics model of x-configuration quadrotor using Newton-Euler modelling technique. To stabilize quadrotor attitude (roll (φ), pitch (θ), yaw (ψ)) during hovering, a PID controller is proposed. There is individual PID controller for each roll, pitch, yaw and z where 12 parameters consist of kp, ki, and kd are fine-tuned using particle swarm optimization algorithms. From the simulation, the sum absolute error fitness function give the best optimize result where quadrotor achieve zero steady state error for hovering with 18.9% overshoot, and 4.42s settling time. Accordingly, for attitude stabilization, roll angle, pitch angle, and yaw angle converge to the set point, zero approximately with settling time 2.76s, 0.1s and 3.2s respectively. | ||
| 546 | |a en | ||
| 650 | 0 | 4 | |a TK Electrical engineering. Electronics Nuclear engineering |