Application of Steady-State Integral Proportional Integral Controller for Inner Dynamics Control Loop of Multi-rotor UAVs

Jun Jet Tai, Swee King Phang, Choon Lih Hoo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)
20 Downloads (Pure)

Abstract

The industry usage for racing grade multi-rotors have not yet been widely probed. These multi-rotors focus on maximizing system actuation whilst minimizing system overshoot and oscillations. These systems usually employ cascaded PID control loops, and are generally largely tuned by hand. This paper presents a novel control method adapted from steady state integral methods derived from direct current motors in order to develop a new control scheme for racing grade multi-rotors. The performance of this controller was tested on a quad-rotor non-linear dynamic model simulator. The controller shows good robustness and performance which is evidenced from the very small magnitude error under the influence of disturbance, while making tuning intuitive and simple.

Original languageEnglish
Title of host publication2018 Fourth International Conference on Advances in Computing, Communication & Automation (ICACCA)
PublisherIEEE
ISBN (Electronic)9781538671672
DOIs
Publication statusPublished - 29 Jul 2019
Event4th International Conference on Advances in Computing, Communication and Automation 2018 - Subang Jaya, Malaysia
Duration: 26 Oct 201828 Oct 2018

Publication series

NameInternational Conference on Advances in Computing, Communication & Automation (ICACCA)
ISSN (Electronic)2642-7354

Conference

Conference4th International Conference on Advances in Computing, Communication and Automation 2018
Abbreviated titleICACCA 2018
CountryMalaysia
CitySubang Jaya
Period26/10/1828/10/18

Keywords

  • PI Control
  • Steady-State Integral
  • UAV

ASJC Scopus subject areas

  • Information Systems
  • Information Systems and Management
  • Media Technology
  • Health Informatics
  • Computer Networks and Communications
  • Artificial Intelligence
  • Computer Science Applications

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