Quadrotor Control Using Fractional-Order PI^λ D^μ Control

Subject Areas : Machine Learning

Reham Mohammed ¹

1 - Electrical Engineering Department, University of Suez Canal, Ismailia, Egypt.

Received: 2018-10-20 Accepted : 2018-12-23 Published : 2019-02-01

Keywords: Quadrotor, Proportional Integral Derivative (PID) controller, Fractional Order Proportional Integral Derivative (FOPID),

Abstract :

Quadrotor control has been noted for its trouble as the consequence of the high maneuverability, system nonlinearity and strongly coupled multivariable. This paper deals with the simulation depend on proposed controller of a quadrotor that can overcome this trouble. The mathematical model of quadrotor is determined using a Newton-Euler formulation. Fractional Order Proportional Integral Derivative (FOPID) controller tuned by genetic algorithm (GA) is investigated to control and stabilization the position and attitude of quadrotor using feedback linearization. This controller is used as a reference to compare its results with Proportional Integral Derivative (PID) controller tuned by GA. The control structure performance is evaluated through the response and minimizing the error of the position and attitude. Simulation results, demonstrates that position and attitude control using FOPID has fast response, better steady state error and RMS error than PID. By simulation the two controllers are tested under the same conditions using SIMULINK under MATLAB2015a.

References:

[1] S. E. Hamamci, “An algorithm for stabilization of fractional-order time delay systems using fractional-order PID controllers,” IEEE Trans. Autom. Control, vol. 52, no. 10, pp. 1964–1969, Oct. 2007.
[2] M. Ö. Efe, “Neural network assisted computationally simple PIλDμ control of a quadrotor UAV,” IEEE Trans. Ind. Informat., vol. 7, no. 2, pp. 354–361,May 2011.
[3] J. Han, “From PID to active disturbance rejection control,” IEEE Trans. Ind. Electron., vol. 56, no. 3, pp. 900–906, Mar. 2009.
[4] Podlubny, “Fractional-order systems and PIλDμ controller,” IEEE Trans. Automatic Control, vol. 44, no. 1, pp. 208–214, 1999.
[5] Z. Bingul and O. Karahan," Fractional PID controllers tuned by evolutionary algorithms for robot trajectory control", Turk J Elec Eng & Comp Sci, Vol.20, No.Sup.1, pp. 1123-1136, 2012.
[6] Kendoul, Farid. "Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems." Journal of Field Robotics 29.2 (2012): 315-378.
[7] Hou, Hongning, et al. "A simple controller of minisize quad-rotor vehicle." Mechatronics and Automation (ICMA), 2010 International Conference on. IEEE, 2010.
[8] Reizenstein, Axel. "Position and Trajectory Control of a Quadcopter Using PID and LQ Controllers."(2017).
[9] Bresciani, T. "Modeling, identification and control of a quadrotor helicopter. Master’s thesis, Department of Automatic control, Lund University, October 2008, p. 170." (2008).
[10] De Lellis Costa de Oliveira, Marcelo. "Modeling, Identification and Control of a Quadrotor Aircraft." (2011).
[11] Al-Younes, Younes M., Mohammed A. Al-Jarrah, and Ali A. Jhemi. "Linear vs. nonlinear control techniques for a quadrotor vehicle." Mechatronics and its Applications (ISMA), 2010 7th International Symposium on. IEEE, 2010.
[12] Minh, Ly Dat, and Cheolkeun Ha. "Modeling and control of quadrotor MAV using vision-based measurement." Strategic Technology (IFOST), 2010 International Forum on. IEEE, 2010.
[13] Altug, Erdinc, James P. Ostrowski, and Robert Mahony. "Control of a quadrotor helicopter using visual feedback." Robotics and Automation, 2002. Proceedings. ICRA'02. IEEE International Conference on. Vol. 1. IEEE, 2002.
[14] Mokhtari, Abdellah, et al. "Feedback linearization and linear observer for a quadrotor unmanned aerial vehicle." Advanced Robotics 20.1 (2006): 71-91.
[15] Mellinger, Daniel, et al. "Design, modeling, estimation and control for aerial grasping and manipulation." Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on. IEEE, 2011.
[16] Subodh Mishra ,"Robust Control of Quadrotors." ,Master thesis , Department of Automatic Control and Robotics,(2017).
[17] Madani, Tarek, and Abdelaziz Benallegue. "Control of a quadrotor mini-helicopter via full state backstepping technique." Decision and Control, 2006 45th IEEE Conference on. IEEE, 2006.
[18] Mahony, Robert, Vijay Kumar, and Peter Corke. "Multirotor aerial vehicles." IEEE Robotics and Automation magazine 20.32 (2012).
[19] Mellinger, Daniel Warren. "Trajectory generation and control for quadrotors." (2012).
[20] Youns, Majed D., Salih M. Attya, and Abdulla I. Abdulla. "Position Control Of Robot Arm Using Genetic Algorithm Based PID Controller." AL Rafdain Engineering Journal 21.6 (2013): 19-30.
[21] D. Xue and Y. Chen, “A Comparative Introduction of Four Fractional Order Controllers,” in Proceedings of the 4th World Congress on Intelligent Control and Automation, pp. 3228–3235, 2002.
[22] M. R. Faieghi and A. Nemati , "On Fractional-Order PID Design", Applications of MATLAB in Science and Engineering, ISBN: 978-953-307-708-6, InTech, 2011. Available from: http://www.intechopen.com/books/applications-of-matlab-in-science-and engineering/on fractional-order-pid-design