A Self-adaptive Cascade Fuzzy PID Method of Attitude Control for Quadrotor

被引：0
作者：
Fu, Yanguo [1 ]
Zhao, Qianqian [1 ]
Liu, Zhigang [1 ]
Xu, Yan [1 ]
Liu, Xianyong [1 ]
机构：
[1] Zhejiang Ocean Univ, Sch Port & Transportat Engn, Zhoushan, Peoples R China
来源：
2018 IEEE 4TH INTERNATIONAL CONFERENCE ON CONTROL SCIENCE AND SYSTEMS ENGINEERING (ICCSSE 2018) | 2018年
关键词：
unmanned aerial vehicle; quadrotor; PID control; fuzzy control; self-adaptive; SPACECRAFT; UAVS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Quadrotor is a popular type of unmanned aerial vehicle (UAV). Usually, it can be regarded as a complex nonlinear control system, characterized of being multi-variable, under-actuated and strong-coupling. It, nowadays, has raised great interests of researchers due to several challenges, for instance it is time consuming to tune and adjust key parameters of a controller, also the attitude of a UAV would be too sensitive to environmental factors. The work proposes a new cascade fuzzy proportional integral derivative (PID) method for quadrotor. The method is based on the theory of fuzzy mathematics and control system modelling. One of the advantages of our method is that key control parameters are self-adapted to the PM controller designed. To verify the performance of the new method, we numerically simulate and quantitatively compare it with the conventional single-stack PM algorithm and cascade PM algorithm, with two indicators of responding speed and anti-interference ability of the control system. The results suggested that the method outperforms the rivals in terms of the indicators measured.
引用
收藏
页码：269 / 275
页数：7
相关论文
共 50 条
[31]   Self-adaptive RBF neural network PID control in exhaust temperature of micro gas turbine [J].
Wang, Jiang-Jiang ;
Zhang, Chun-Fa ;
Jing, You-Yin .
PROCEEDINGS OF 2008 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-7, 2008, :2131-2136
[32]   Application of self-adaptive fuzzy PID technology in launch site gas supply system [J].
Yang Yiqi ;
Liu Haoyang ;
Yue Longhua ;
Wang Tianhang .
CHINESE SPACE SCIENCE AND TECHNOLOGY, 2019, 39 (03) :81-87
[33]   Adaptive PID Controller Using Sliding Mode Control Approaches for Quadrotor UAV Attitude and Position Stabilization [J].
Aminurrashid Noordin ;
Mohd Ariffanan Mohd Basri ;
Zaharuddin Mohamed ;
Izzuddin Mat Lazim .
Arabian Journal for Science and Engineering, 2021, 46 :963-981
[34]   Adaptive PID Controller Using Sliding Mode Control Approaches for Quadrotor UAV Attitude and Position Stabilization [J].
Noordin, Aminurrashid ;
Basri, Mohd Ariffanan Mohd ;
Mohamed, Zaharuddin ;
Lazim, Izzuddin Mat .
ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING, 2021, 46 (02) :963-981
[35]   Adaptive Fuzzy PID Control for Boiler Deaerator [J].
Lei Jinli .
2012 INTERNATIONAL CONFERENCE ON INDUSTRIAL CONTROL AND ELECTRONICS ENGINEERING (ICICEE), 2012, :575-578
[36]   Neural Adaptive PID Control of a Quadrotor using EFK [J].
Rosales, C. ;
Tosetti, S. ;
Soria, C. ;
Rossomando, F. .
IEEE LATIN AMERICA TRANSACTIONS, 2018, 16 (11) :2722-2730
[37]   Self-adaptive neuron PID control in exhaust temperature of micro gas turbine [J].
Wang, Jiang-Jiang ;
Jing, You-Yin ;
Zhang, Chun-Fa .
PROCEEDINGS OF 2008 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-7, 2008, :2125-2130
[38]   Observer-Based Adaptive Fuzzy Finite-Time Attitude Control for Quadrotor UAVs [J].
Liu, Kang ;
Yang, Po ;
Wang, Rujing ;
Jiao, Lin ;
Li, Tao ;
Zhang, Jie .
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 2023, 59 (06) :8637-8654
[39]   Direct Torque Control System of Induction Motors with a Fuzzy Self-adaptive Speed Controller [J].
Liu, Jing .
INTELLIGENT SYSTEM AND APPLIED MATERIAL, PTS 1 AND 2, 2012, 466-467 :689-693
[40]   Attitude Stabilization for a Quadrotor Using Adaptive Control Algorithm [J].
Huang, Tianpeng ;
Li, Tieshan ;
Chen, C. L. Philip ;
Li, Yanan .
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 2024, 60 (01) :334-347
12345