Ziegler-Nichols optimization for quadrotor attitude control / Otimização de Ziegler-Nichols para o controle de atitude de quadrirrotor

Detalhes bibliográficos
Autor(a) principal: Canal, Ivan Paulo
Data de Publicação: 2020
Outros Autores: Reimbold, Manuel Martín Pérez
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Revista Veras
Texto Completo: https://ojs.brazilianjournals.com.br/ojs/index.php/BRJD/article/view/6737
Resumo: Quadrotor and multirotor aircraft, which do not need a pilot to fly, are used for recreational or work purposes, with the quadrotor being the type most used in practical implementations. The quadrotor represents a promising field of research due to its ability to fly and manoeuvre, gaining recognition as a technological solution in many areas. An aircraft quadrotor is a complex control system that allows great flexibility of flight. The identification and control of the variables in multirotor aerial systems such as quadrotors is challenging, however, because the quantities involved are not always available, known and accurate. Among the various control methods that have been investigated, proportional-integral-derivative (PID) control offers good results and simplicity for application in quadrotors, but achieving stability and high performance is challenging, with the fundamental task being tuning the controller gains. Improving the control system performance is also challenging, especially when the load varies. Here, Ziegler-Nichols (ZN) theory was used to tune the controller gains for pitch and roll attitude command, followed by evaluation of improvements in the system response. The optimized application of ZN theory to a quadrotor (termed optimized ZNAQ) is proposed and obtains a significant improvement in the control system response performance, demonstrating that optimized ZNAQ is valid for tuning the controller PID gains and more efficient than the original ZN theory approach. 
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spelling Ziegler-Nichols optimization for quadrotor attitude control / Otimização de Ziegler-Nichols para o controle de atitude de quadrirrotorZiegler-Nicholsquadrotor controlPID tuningmultirotor.Quadrotor and multirotor aircraft, which do not need a pilot to fly, are used for recreational or work purposes, with the quadrotor being the type most used in practical implementations. The quadrotor represents a promising field of research due to its ability to fly and manoeuvre, gaining recognition as a technological solution in many areas. An aircraft quadrotor is a complex control system that allows great flexibility of flight. The identification and control of the variables in multirotor aerial systems such as quadrotors is challenging, however, because the quantities involved are not always available, known and accurate. Among the various control methods that have been investigated, proportional-integral-derivative (PID) control offers good results and simplicity for application in quadrotors, but achieving stability and high performance is challenging, with the fundamental task being tuning the controller gains. Improving the control system performance is also challenging, especially when the load varies. Here, Ziegler-Nichols (ZN) theory was used to tune the controller gains for pitch and roll attitude command, followed by evaluation of improvements in the system response. The optimized application of ZN theory to a quadrotor (termed optimized ZNAQ) is proposed and obtains a significant improvement in the control system response performance, demonstrating that optimized ZNAQ is valid for tuning the controller PID gains and more efficient than the original ZN theory approach. Brazilian Journals Publicações de Periódicos e Editora Ltda.2020-02-07info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttps://ojs.brazilianjournals.com.br/ojs/index.php/BRJD/article/view/673710.34117/bjdv6n2-073Brazilian Journal of Development; Vol. 6 No. 2 (2020); 6306-6315Brazilian Journal of Development; Vol. 6 Núm. 2 (2020); 6306-6315Brazilian Journal of Development; v. 6 n. 2 (2020); 6306-63152525-8761reponame:Revista Verasinstname:Instituto Superior de Educação Vera Cruz (VeraCruz)instacron:VERACRUZenghttps://ojs.brazilianjournals.com.br/ojs/index.php/BRJD/article/view/6737/593910.34117/bjd.v6i2.6737.g5939Copyright (c) 2020 Brazilian Journal of Developmentinfo:eu-repo/semantics/openAccessCanal, Ivan PauloReimbold, Manuel Martín Pérez2020-03-18T16:24:25Zoai:ojs2.ojs.brazilianjournals.com.br:article/6737Revistahttp://site.veracruz.edu.br:8087/instituto/revistaveras/index.php/revistaveras/PRIhttp://site.veracruz.edu.br:8087/instituto/revistaveras/index.php/revistaveras/oai||revistaveras@veracruz.edu.br2236-57292236-5729opendoar:2024-10-15T16:05:01.346106Revista Veras - Instituto Superior de Educação Vera Cruz (VeraCruz)false
dc.title.none.fl_str_mv Ziegler-Nichols optimization for quadrotor attitude control / Otimização de Ziegler-Nichols para o controle de atitude de quadrirrotor
title Ziegler-Nichols optimization for quadrotor attitude control / Otimização de Ziegler-Nichols para o controle de atitude de quadrirrotor
spellingShingle Ziegler-Nichols optimization for quadrotor attitude control / Otimização de Ziegler-Nichols para o controle de atitude de quadrirrotor
Canal, Ivan Paulo
Ziegler-Nichols
quadrotor control
PID tuning
multirotor.
title_short Ziegler-Nichols optimization for quadrotor attitude control / Otimização de Ziegler-Nichols para o controle de atitude de quadrirrotor
title_full Ziegler-Nichols optimization for quadrotor attitude control / Otimização de Ziegler-Nichols para o controle de atitude de quadrirrotor
title_fullStr Ziegler-Nichols optimization for quadrotor attitude control / Otimização de Ziegler-Nichols para o controle de atitude de quadrirrotor
title_full_unstemmed Ziegler-Nichols optimization for quadrotor attitude control / Otimização de Ziegler-Nichols para o controle de atitude de quadrirrotor
title_sort Ziegler-Nichols optimization for quadrotor attitude control / Otimização de Ziegler-Nichols para o controle de atitude de quadrirrotor
author Canal, Ivan Paulo
author_facet Canal, Ivan Paulo
Reimbold, Manuel Martín Pérez
author_role author
author2 Reimbold, Manuel Martín Pérez
author2_role author
dc.contributor.author.fl_str_mv Canal, Ivan Paulo
Reimbold, Manuel Martín Pérez
dc.subject.por.fl_str_mv Ziegler-Nichols
quadrotor control
PID tuning
multirotor.
topic Ziegler-Nichols
quadrotor control
PID tuning
multirotor.
description Quadrotor and multirotor aircraft, which do not need a pilot to fly, are used for recreational or work purposes, with the quadrotor being the type most used in practical implementations. The quadrotor represents a promising field of research due to its ability to fly and manoeuvre, gaining recognition as a technological solution in many areas. An aircraft quadrotor is a complex control system that allows great flexibility of flight. The identification and control of the variables in multirotor aerial systems such as quadrotors is challenging, however, because the quantities involved are not always available, known and accurate. Among the various control methods that have been investigated, proportional-integral-derivative (PID) control offers good results and simplicity for application in quadrotors, but achieving stability and high performance is challenging, with the fundamental task being tuning the controller gains. Improving the control system performance is also challenging, especially when the load varies. Here, Ziegler-Nichols (ZN) theory was used to tune the controller gains for pitch and roll attitude command, followed by evaluation of improvements in the system response. The optimized application of ZN theory to a quadrotor (termed optimized ZNAQ) is proposed and obtains a significant improvement in the control system response performance, demonstrating that optimized ZNAQ is valid for tuning the controller PID gains and more efficient than the original ZN theory approach. 
publishDate 2020
dc.date.none.fl_str_mv 2020-02-07
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv https://ojs.brazilianjournals.com.br/ojs/index.php/BRJD/article/view/6737
10.34117/bjdv6n2-073
url https://ojs.brazilianjournals.com.br/ojs/index.php/BRJD/article/view/6737
identifier_str_mv 10.34117/bjdv6n2-073
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv https://ojs.brazilianjournals.com.br/ojs/index.php/BRJD/article/view/6737/5939
10.34117/bjd.v6i2.6737.g5939
dc.rights.driver.fl_str_mv Copyright (c) 2020 Brazilian Journal of Development
info:eu-repo/semantics/openAccess
rights_invalid_str_mv Copyright (c) 2020 Brazilian Journal of Development
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Brazilian Journals Publicações de Periódicos e Editora Ltda.
publisher.none.fl_str_mv Brazilian Journals Publicações de Periódicos e Editora Ltda.
dc.source.none.fl_str_mv Brazilian Journal of Development; Vol. 6 No. 2 (2020); 6306-6315
Brazilian Journal of Development; Vol. 6 Núm. 2 (2020); 6306-6315
Brazilian Journal of Development; v. 6 n. 2 (2020); 6306-6315
2525-8761
reponame:Revista Veras
instname:Instituto Superior de Educação Vera Cruz (VeraCruz)
instacron:VERACRUZ
instname_str Instituto Superior de Educação Vera Cruz (VeraCruz)
instacron_str VERACRUZ
institution VERACRUZ
reponame_str Revista Veras
collection Revista Veras
repository.name.fl_str_mv Revista Veras - Instituto Superior de Educação Vera Cruz (VeraCruz)
repository.mail.fl_str_mv ||revistaveras@veracruz.edu.br
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