Ziegler-Nichols optimization for quadrotor attitude control / Otimização de Ziegler-Nichols para o controle de atitude de quadrirrotor
Autor(a) principal: | |
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Data de Publicação: | 2020 |
Outros Autores: | |
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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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 |
_version_ |
1813645439499501568 |