Optimal Control for a Three-Rotor Unmanned Aerial Vehicle in Programmed Flights

Abstract

In this study, we propose a new approach to selecting PID controller parameters for a UAV tricopter during programmed flights. The approach uses optimization techniques to determine the optimal values of the PID controller parameters based on the desired performance of the UAV. The proposed method is particularly effective for repeated programmed flights in which the UAV follows a defined flight path. The use of a PID control provides a reliable and robust control system that can cope with various disturbances and uncertainties in UAV dynamics. The proposed method provides an alternative to adaptive control, which requires a significant amount of system identification and parameter tuning. The effectiveness of the proposed method has been verified in simulation studies, and the results show its ability to achieve satisfactory performance with low tracking error and fast response time. The result of the work is an improvement in control for a specific object at a specific mission. We present how the recipients can perform this procedure for their object and their mission to be able to improve the control gain in the physical controller.