Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach

Due to their enormous characteristics and applicability, quadrotor unmanned aerial vehicles (UAVs) have enjoyed much popularity lately. However, designing a stable control strategy for quadrotors still remains one of the major concerns mainly due to the requirement of an accurate system model. They...

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Bibliographic Details
Published in:International journal of aerospace engineering 2023-10, Vol.2023, p.1-10
Main Authors: Hoshu, Ayaz Ahmed, Mustafa Abro, Ghulam E, Alhussein, Musaed, Tunio, Irfan Ali, Aurangzeb, Khursheed, Ali, Anwar
Format: Article
Language:English
Subjects:
Aerospace engineering
Cascade control
Control algorithms
Control systems design
Controllers
Couplings
Design
Dynamical systems
Integrators
Nonlinear dynamics
Proportional integral derivative
Relay feedback
Rotary wing aircraft
Tuning
Unmanned aerial vehicles
Unmanned helicopters
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Summary:Due to their enormous characteristics and applicability, quadrotor unmanned aerial vehicles (UAVs) have enjoyed much popularity lately. However, designing a stable control strategy for quadrotors still remains one of the major concerns mainly due to the requirement of an accurate system model. They are naturally underactuated systems, with complex and nonlinear dynamics as well as interaxes couplings. Considering the dynamical complexities of these vehicles, one of the efficient methods is to utilize the relay feedback experiments and automatic tuning approach to tackle these issues. This paper investigates the employment of the relay with embedded integrator approach, wherein the quadrotor dynamics are estimated effectively with minimal parameters as compared to previously utilized relay with hysteresis technique. Frequency sampling filter (FSF) is further utilized for the extraction of the needful data through the signals obtained using the relay experiments, followed by the estimation of the plant dynamics. PID controllers have then been developed using the approximated quadrotor models. Which are used in the proposed cascade control structure for the quadrotor. The demonstrated results and analysis present the efficacy of designed control system technique for the quadrotor UAV.
ISSN:1687-5966
1687-5974
DOI:10.1155/2023/6651286