A Simple Attitude Control of Quadrotor Helicopter Based on Ziegler-Nichols Rules for Tuning PD Parameters
An attitude control strategy based on Ziegler-Nichols rules for tuning PD (proportional-derivative) parameters of quadrotor helicopters is presented to solve the problem that quadrotor tends to be instable. This problem is caused by the narrow definition domain of attitude angles of quadrotor helico...
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | The Scientific World Journal |
| Online Access: | http://dx.doi.org/10.1155/2014/280180 |
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| author | ZeFang He Long Zhao |
| author_facet | ZeFang He Long Zhao |
| author_sort | ZeFang He |
| collection | DOAJ |
| description | An attitude control strategy based on Ziegler-Nichols rules for tuning PD (proportional-derivative) parameters of quadrotor helicopters is presented to solve the problem that quadrotor tends to be instable. This problem is caused by the narrow definition domain of attitude angles of quadrotor helicopters. The proposed controller is nonlinear and consists of a linear part and a nonlinear part. The linear part is a PD controller with PD parameters tuned by Ziegler-Nichols rules and acts on the quadrotor decoupled linear system after feedback linearization; the nonlinear part is a feedback linearization item which converts a nonlinear system into a linear system. It can be seen from the simulation results that the attitude controller proposed in this paper is highly robust, and its control effect is better than the other two nonlinear controllers. The nonlinear parts of the other two nonlinear controllers are the same as the attitude controller proposed in this paper. The linear part involves a PID (proportional-integral-derivative) controller with the PID controller parameters tuned by Ziegler-Nichols rules and a PD controller with the PD controller parameters tuned by GA (genetic algorithms). Moreover, this attitude controller is simple and easy to implement. |
| format | Article |
| id | doaj-art-eaafa4a0014649a394d5fe2824786c8d |
| institution | OA Journals |
| issn | 2356-6140 1537-744X |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Scientific World Journal |
| spelling | doaj-art-eaafa4a0014649a394d5fe2824786c8d2025-08-20T02:22:01ZengWileyThe Scientific World Journal2356-61401537-744X2014-01-01201410.1155/2014/280180280180A Simple Attitude Control of Quadrotor Helicopter Based on Ziegler-Nichols Rules for Tuning PD ParametersZeFang He0Long Zhao1Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, ChinaScience and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, ChinaAn attitude control strategy based on Ziegler-Nichols rules for tuning PD (proportional-derivative) parameters of quadrotor helicopters is presented to solve the problem that quadrotor tends to be instable. This problem is caused by the narrow definition domain of attitude angles of quadrotor helicopters. The proposed controller is nonlinear and consists of a linear part and a nonlinear part. The linear part is a PD controller with PD parameters tuned by Ziegler-Nichols rules and acts on the quadrotor decoupled linear system after feedback linearization; the nonlinear part is a feedback linearization item which converts a nonlinear system into a linear system. It can be seen from the simulation results that the attitude controller proposed in this paper is highly robust, and its control effect is better than the other two nonlinear controllers. The nonlinear parts of the other two nonlinear controllers are the same as the attitude controller proposed in this paper. The linear part involves a PID (proportional-integral-derivative) controller with the PID controller parameters tuned by Ziegler-Nichols rules and a PD controller with the PD controller parameters tuned by GA (genetic algorithms). Moreover, this attitude controller is simple and easy to implement.http://dx.doi.org/10.1155/2014/280180 |
| spellingShingle | ZeFang He Long Zhao A Simple Attitude Control of Quadrotor Helicopter Based on Ziegler-Nichols Rules for Tuning PD Parameters The Scientific World Journal |
| title | A Simple Attitude Control of Quadrotor Helicopter Based on Ziegler-Nichols Rules for Tuning PD Parameters |
| title_full | A Simple Attitude Control of Quadrotor Helicopter Based on Ziegler-Nichols Rules for Tuning PD Parameters |
| title_fullStr | A Simple Attitude Control of Quadrotor Helicopter Based on Ziegler-Nichols Rules for Tuning PD Parameters |
| title_full_unstemmed | A Simple Attitude Control of Quadrotor Helicopter Based on Ziegler-Nichols Rules for Tuning PD Parameters |
| title_short | A Simple Attitude Control of Quadrotor Helicopter Based on Ziegler-Nichols Rules for Tuning PD Parameters |
| title_sort | simple attitude control of quadrotor helicopter based on ziegler nichols rules for tuning pd parameters |
| url | http://dx.doi.org/10.1155/2014/280180 |
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