Abstract
Due to potential features of unmanned aerial vehicles for society, the development of bicopter has started to increase. This paper contributes to the development by presenting a performance evaluation of balancing bicopter control in roll attitude. It aims to determine the best controller structure for the balancing bicopter. The controller types evaluated are based on Ziegler-Nichols tuning method; they are proportional (P), proportional-integral (PI), and proportional-integral-derivative (PID) controllers. Root locus plot of the closed-loop balancing bicopter system is used to decide the tuning approach. This work considers a difference in pulse-width-modulation (PWM) signal between the left and right rotors as the signal control and bicopter angle in roll movement as the output. Parameters tuned by the method are Kp, Ti, and Td which is based on the ideal PID structure. The performance test utilizes rising time, settling time, maximum overshoot, and steady-state error to determine the most preferred controller. The result shows that PI-controller has the best performance among the other candidates, especially in maximum overshoot and settling time. It reaches 8.34 seconds in settling time and 3.71% in maximum overshoot. Despite not being the best in rising time and resembling PID-controller performances in steady-state error criteria, PI-controller remains the most preferred structure considering the closeness of the response to the desired value.
Highlights
Flying vehicle is not a new product in the engineering field
This work has evaluated performances of balancing bicopter control on roll movement tuned by Ziegler-Nichols concept
The result concludes that based on Ziegler-Nichols tuning method, PI-controller is the most preferred option for balancing bicopter control system among the other controller types due to better performance, especially in settling time and maximum overshoot criteria
Summary
Flying vehicle is not a new product in the engineering field. Even so, rapid development of unmanned aerial vehicles (UAVs) has caused research in the field of flying vehicles to become a hotspot in the world today. Due to its potential features, UAVs are available to be used for many applications, such as sowing fertilizer for plants in paddy fields [1], [2], monitoring the activity of a volcano mountain [3], selflocalization, and mapping of specific environment [4], [5], video shooting purpose [6], even for surveillance vehicle in military mission [7], [8] It has been such a challenge for researchers to give their significant contrivances for technology development on UAVs. Research on minimizing the number of rotors in a rotortype UAV has been one of challenging issues. Designed controller has to be capable for stabilizing bicopter with acceptable response time and overcoming oscillation effect at the same time to maintain the desired trajectory
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