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

Ayaz Ahmed Hoshu Orcid Logo, Ghulam E Mustafa Abro Orcid Logo, Musaed Alhussein Orcid Logo, Irfan Ali Tunio Orcid Logo, Khursheed Aurangzeb Orcid Logo, Anwar Ali Orcid Logo

International Journal of Aerospace Engineering, Volume: 2023, Pages: 1 - 10

Swansea University Author: Anwar Ali Orcid Logo

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DOI (Published version): 10.1155/2023/6651286

Abstract

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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Published in: International Journal of Aerospace Engineering
ISSN: 1687-5966 1687-5974
Published: Wiley 2023
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URI: https://cronfa.swan.ac.uk/Record/cronfa70058
Abstract: 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.
College: Faculty of Science and Engineering
Funders: This research is funded by the Researchers Supporting Project Number (RSPD2023R947), King Saud University, Riyadh, Saudi Arabia.
Start Page: 1
End Page: 10

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