A Combination of PD Controller and PIAFC for Stabilization of “x†Configuration Quadcopter
Abstract
This paper presents a stabilization control method for “x†configuration quadcopter. The control method used the combination of PD (Proportional Derivative) controller and PIAFC (Proportional Integral Active Force Control). PD is used to stabilize quadcopter, and PIAFC is used to reject uncertainty disturbance (e.g. wind) by estimating disturbance torque value of quadcopter. The PD with PIAFC provided better result where PIAFC could minimize uncertain disturbance effect. The simulation has successfully give comparation about controller performance (PD, PD-AFC, PD-PIAFC) by calculate RMS (Root Mean Square) value. PD with AFC gives better result than PD. AFC optimization using PI (PD-PIAFC) give best result if compared with PD or PD-AFC. PD-PIAFC has lowest RMS value of result control signal, 0.0389 for constant disturbance and 0.1008 for fluctuated disturbance.
Keywords:“x†configuration quadcopter, stability, PD, PIAFC.
Downloads
References
Gupte, Shweta, Paul Infant Teenu Mohandas, and James M. Conrad,A Survey of Quadrotor Unmanned Aerial Vehicles, Proceedings of IEEE.IEEE, Southeastcon, pp. 1-6, 2012.
Bouabdallah, Samir, Andre Noth, and Roland Siegwart, PID vs LQ Control Techniques Applied to an Indoor Micro Quadrotor.Intelligent Robots and Systems, 2004.(IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on. Vol. 3. IEEE, pp.2451-2456, 2004.
Li, Jun, and Yuntang Li, Dynamic Analysis and PIDControl for aQuadrotor, Mechatronics and Automation (ICMA), 2011 International Conference on. IEEE, pp. 573-578, 2011.
Mokhtari, Abdellah, and A. Benallegue, Dynamic Feedback Controller of Eulerangles and Wind Parameters Estimation for a Quadrotor Unmanned Aerial Vehicle, Robotics and Automation, 2004. Proceedings. ICRA'04. 2004 IEEE International Conference on. Vol. 3. IEEE, pp. 2359-2366, 2004.
Erginer, Bora, and Erdinc Altug, Modeling and PD Control of a Quadrotor VTOL Vehicle,Intelligent Vehicles Symposium, 2007 IEEE. IEEE, pp. 894-899, 2007.
Pounds, Paul, Robert Mahony, and Peter Corke, Modelling and Control of a Large Quadrotor Robot, Control Engineering Practice 18.7 Elsevier, 2010, pp. 691-699, 2010.
The copyright to this article is transferred to Politeknik Elektronika Negeri Surabaya(PENS) if and when the article is accepted for publication. The undersigned hereby transfers any and all rights in and to the paper including without limitation all copyrights to PENS. The undersigned hereby represents and warrants that the paper is original and that he/she is the author of the paper, except for material that is clearly identified as to its original source, with permission notices from the copyright owners where required. The undersigned represents that he/she has the power and authority to make and execute this assignment. The copyright transfer form can be downloaded here .
The corresponding author signs for and accepts responsibility for releasing this material on behalf of any and all co-authors. This agreement is to be signed by at least one of the authors who have obtained the assent of the co-author(s) where applicable. After submission of this agreement signed by the corresponding author, changes of authorship or in the order of the authors listed will not be accepted.
Retained Rights/Terms and Conditions
- Authors retain all proprietary rights in any process, procedure, or article of manufacture described in the Work.
- Authors may reproduce or authorize others to reproduce the work or derivative works for the author’s personal use or company use, provided that the source and the copyright notice of Politeknik Elektronika Negeri Surabaya (PENS) publisher are indicated.
- Authors are allowed to use and reuse their articles under the same CC-BY-NC-SA license as third parties.
- Third-parties are allowed to share and adapt the publication work for all non-commercial purposes and if they remix, transform, or build upon the material, they must distribute under the same license as the original.
Plagiarism Check
To avoid plagiarism activities, the manuscript will be checked twice by the Editorial Board of the EMITTER International Journal of Engineering Technology (EMITTER Journal) using iThenticate Plagiarism Checker and the CrossCheck plagiarism screening service. The similarity score of a manuscript has should be less than 25%. The manuscript that plagiarizes another author’s work or author's own will be rejected by EMITTER Journal.
Authors are expected to comply with EMITTER Journal's plagiarism rules by downloading and signing the plagiarism declaration form here and resubmitting the form, along with the copyright transfer form via online submission.
