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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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2023-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2023/6651286 |
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| author | Ayaz Ahmed Hoshu Ghulam E Mustafa Abro Musaed Alhussein Irfan Ali Tunio Khursheed Aurangzeb Anwar Ali |
| author_facet | Ayaz Ahmed Hoshu Ghulam E Mustafa Abro Musaed Alhussein Irfan Ali Tunio Khursheed Aurangzeb Anwar Ali |
| author_sort | Ayaz Ahmed Hoshu |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-a13e6ccfafdd458f98831c382b96dff0 |
| institution | DOAJ |
| issn | 1687-5974 |
| language | English |
| publishDate | 2023-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-a13e6ccfafdd458f98831c382b96dff02025-08-20T03:19:50ZengWileyInternational Journal of Aerospace Engineering1687-59742023-01-01202310.1155/2023/6651286Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning ApproachAyaz Ahmed Hoshu0Ghulam E Mustafa Abro1Musaed Alhussein2Irfan Ali Tunio3Khursheed Aurangzeb4Anwar Ali5School of EngineeringElectrical and Electronic EngineeringDepartment of Computer EngineeringDepartment of Electronic EngineeringDepartment of Computer EngineeringDepartment of Electronic and Electrical EngineeringDue 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.http://dx.doi.org/10.1155/2023/6651286 |
| spellingShingle | Ayaz Ahmed Hoshu Ghulam E Mustafa Abro Musaed Alhussein Irfan Ali Tunio Khursheed Aurangzeb Anwar Ali Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach International Journal of Aerospace Engineering |
| title | Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach |
| title_full | Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach |
| title_fullStr | Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach |
| title_full_unstemmed | Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach |
| title_short | Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach |
| title_sort | cascaded control system design for quadrotor uav through relay with embedded integrator based automatic tuning approach |
| url | http://dx.doi.org/10.1155/2023/6651286 |
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