PID and Fuzzy-PID Control Model for Quadcopter Attitude with Disturbance Parameter

Endrowednes Kuantama, Tiberiu Vesselenyi, Simona Dzitac, Radu Tarca

Abstract


This paper aims to present data analysis of quadcopter dynamic attitude on a circular trajectory, specifically by comparing the modeling results of conventional Proportional Integral Derivative (PID) and Fuzzy-PID controllers. Simulations of attitude stability with both control systems were done using Simulink toolbox from Matlab so the identification of each control system is clearly seen. Each control system algorithm related to roll and pitch angles which affects the horizontal movement on a circular trajectory is explained in detail. The outcome of each tuning variable of both control systems on the output movement is observable while the error magnitude can be compared with the reference angles. To obtain a deeper analysis, wind disturbance on each axis was added to the model, thus differences between each control system are more recognizable. According to simulation results, the Fuzzy-PID controller has relatively smaller errors than the PID controller and has a better capability to reject disturbances. The scaling factors of gain values of the two controllers also play a vital role in their design.

Keywords


Quadcopter, PID, fuzzy-PID, Simulink, attitude

Full Text:

PDF

References


Ahmed S.F. et al (2015); Attitude Stabilization of Quad-rotor (UAV) System Using Fuzzy PID Controller, Second International Conference on Computing Technology and Information Management (ICCTIM), 99-104, 2015.
https://doi.org/10.1109/icctim.2015.7224600

Argentim L. M. et al (2013); PID, LQR and LQR-PID on a Quadcopter Platform, International conference on Informatics, Electronics and Vision (ICIEV), 1-6, 2013.

Benic Z. et al (2016); Mathematical Modeling of Unmanned Aerial Vehicles with Four Rotors, Interdisciplinary Description of Complex System Journal, 14, 88-100, 2014.

Bolandi H. et al (2013); Attitude Control of a Quadrotor with Optimized PID Controller, Intelligent Control and Automation Journal, 4(3), 335-342, 2013.
https://doi.org/10.4236/ica.2013.43039

Cai G. et al (2014); A Survey of Small-Scale Unmanned Aerial Vehicles: Recent Advances and Future Development Trends, Unmanned System Journal, 2, 1-25, 2014.
https://doi.org/10.1142/s2301385014300017

Du Z.B., Lin T.C., Zhao T. B. (2015); Fuzzy Robust Tracking Control for Uncertain Nonlinear Time-Delay System, International Journal of Computers Communications & Control, 10(6):812-824, 2015.

Fu C. et al (2013); UAS See-And-Avoid Strategy using a Fuzzy Logic Controller Optimized by Cross Entropy in Scaling Factors and Membership Functions, International Conference on Unmanned Aircraft System (ICUAS), 532-541, 2013.
https://doi.org/10.1109/ICUAS.2013.6564730

Gautam D., Ha C. (2013); Control of a Quadrotor Using a Smart Self-Tuning Fuzzy PID Controller, International Journal of Advanced Robotic Systems, 10:1-9, 2013.
https://doi.org/10.5772/56911

He Z., Zhao L. (2014); A Simple Attitude Control of Quadrotor Helicopter based on Ziegler- Nicols Rules for Tuning PD Parameters, The Scientific World Journal, 1-13, 2014.

Kotarski D. et al (2016); Control Design for Unmanned Aerial Vehicle with Four Rotors, Interdisciplinary Description of Complex System Journal, 14(2), 236-245, 2016.
https://doi.org/10.7906/indecs.14.2.12

Lai J.G. et al. (2016); A New Adaptive Fuzzy PID Control Method and Its Application in FCBTM, International Journal of Computers Communications & Control, ISSN 1841-9836, 11(3):394-404, 2016.

Magnussen O. et al (2013); Experimental Validation of a Quaternion-based Attitude Estimation with Direct Input to A Quadcopter Control System, International Conference on Unmanned Aircraft System (ICUAS)l, 480-485, 2013.

Mian A., Wang D. (2008); Modeling and Backstepping-based Nonlinear Control strategy for a 6 DOF Quadrotor Helicopter, Chinese Journal of Aeronauticsl, 21, 261-268, 2008.
https://doi.org/10.1016/S1000-9361(08)60034-5

Moghaddam H. F., Vasegh N. (2014); Robust PID Stabilization of Linear Neutral Time- Delay System, International Journal of Computers Communications and Control, 9(2):201- 208, 2014.
https://doi.org/10.15837/ijccc.2014.2.39

Patel K., Barve J. (2014); Modeling, Simulation and Control Study for The Quadcopter UAV, The 9th International Conference on Industrial and Information Systems (ICIIS), 1-6, 2014.

Sanchez E.N. et al. (2006); Combining Fuzzy, PID and Regulation Control for an autonomous mini helicopter, Information Sciences Journal, 177:1999-2022, 2006.

Seidabad E.A. et al. (2014); Designing Fuzzy PID Controller for Quadrotor, International Journal of Advanced Research in Computer Science and Technology, 2:221-227, 2014.

Stevanovic S. et al (2012); Robust Tracking Control Of A Quadrotor Helicopter Without Velocity Measurement, Annuals of DAAAM for 2012 and Proceedings of the 23rd International DAAAM Symposium, 595-600, 2012.

Susnea I.; Vasiliu G. (2016); A Fuzzy Logic Software Tool and a New Scale for the Assessment of Creativity, International Journal of Computers Communications & Control, ISSN 1841-9836, 11(3):441-449, 2016.

Xu, H.; Vilanova, R. (2015); PI and Fuzzy Control for P-removal in Wastewater Treatment Plant, International Journal of Computers Communications & Control, ISSN 1841-9836, 10(6):936-951, 2016.

Yang, S. et al (2009); Design and Simulation of the Longitudinal Autopilot of UAV Based on Self-Adaptive Fuzzy PID Control, International Conference on Computational Intelligence and Security, 634-638, 2009.
https://doi.org/10.1109/cis.2009.253

Ziegler J. G., Nichols N. B. (1942); Optimum Settings for Automatic Controllers, Transactions of the American Society of Mechanical Engineers, 64:759-768, 1942.




DOI: https://doi.org/10.15837/ijccc.2017.4.2962



Copyright (c) 2017 Endrowednes Kuantama, Tiberiu Vesselenyi, Simona Dzitac, Radu Tarca

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

CC-BY-NC  License for Website User

Articles published in IJCCC user license are protected by copyright.

Users can access, download, copy, translate the IJCCC articles for non-commercial purposes provided that users, but cannot redistribute, display or adapt:

  • Cite the article using an appropriate bibliographic citation: author(s), article title, journal, volume, issue, page numbers, year of publication, DOI, and the link to the definitive published version on IJCCC website;
  • Maintain the integrity of the IJCCC article;
  • Retain the copyright notices and links to these terms and conditions so it is clear to other users what can and what cannot be done with the  article;
  • Ensure that, for any content in the IJCCC article that is identified as belonging to a third party, any re-use complies with the copyright policies of that third party;
  • Any translations must prominently display the statement: "This is an unofficial translation of an article that appeared in IJCCC. Agora University  has not endorsed this translation."

This is a non commercial license where the use of published articles for commercial purposes is forbiden. 

Commercial purposes include: 

  • Copying or downloading IJCCC articles, or linking to such postings, for further redistribution, sale or licensing, for a fee;
  • Copying, downloading or posting by a site or service that incorporates advertising with such content;
  • The inclusion or incorporation of article content in other works or services (other than normal quotations with an appropriate citation) that is then available for sale or licensing, for a fee;
  • Use of IJCCC articles or article content (other than normal quotations with appropriate citation) by for-profit organizations for promotional purposes, whether for a fee or otherwise;
  • Use for the purposes of monetary reward by means of sale, resale, license, loan, transfer or other form of commercial exploitation;

    The licensor cannot revoke these freedoms as long as you follow the license terms.

[End of CC-BY-NC  License for Website User]


INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL (IJCCC), With Emphasis on the Integration of Three Technologies (C & C & C),  ISSN 1841-9836.

IJCCC was founded in 2006,  at Agora University, by  Ioan DZITAC (Editor-in-Chief),  Florin Gheorghe FILIP (Editor-in-Chief), and  Misu-Jan MANOLESCU (Managing Editor).

Ethics: This journal is a member of, and subscribes to the principles of, the Committee on Publication Ethics (COPE).

Ioan  DZITAC (Editor-in-Chief) at COPE European Seminar, Bruxelles, 2015:

IJCCC is covered/indexed/abstracted in Science Citation Index Expanded (since vol.1(S),  2006); JCR2018: IF=1.585..

IJCCC is indexed in Scopus from 2008 (CiteScore2018 = 1.56):

Nomination by Elsevier for Journal Excellence Award Romania 2015 (SNIP2014 = 1.029): Elsevier/ Scopus

IJCCC was nominated by Elsevier for Journal Excellence Award - "Scopus Awards Romania 2015" (SNIP2014 = 1.029).

IJCCC is in Top 3 of 157 Romanian journals indexed by Scopus (in all fields) and No.1 in Computer Science field by Elsevier/ Scopus.

 

 Impact Factor in JCR2018 (Clarivate Analytics/SCI Expanded/ISI Web of Science): IF=1.585 (Q3). Scopus: CiteScore2018=1.56 (Q2);

SCImago Journal & Country Rank

Editors-in-Chief: Ioan DZITAC & Florin Gheorghe FILIP.