PID Attitude Controller Research Articles

Research on Aircraft Attitude Control Method Based on Linear Active Disturbance Rejection

In this paper, a dual-loop active disturbance rejection attitude controller design method is proposed for the attitude control of aircraft. Firstly, based on the nonlinear dynamic model of aircraft, the control system model with inner loop as angular velocity and outer loop as attitude angle is established. Secondly, the extended state observer for the inner loop is established to estimate and compensate the state of the system in real time. The controller of the compensated series integral system is designed by using the linear PD control method. Thirdly, the extended state observer and controller for the outer loop are designed by the same method. Finally, the stability proof of the dual-loop attitude control method is given based on the Lyapunov theorem of stability. Simulation results show that compared with the traditional PID attitude control method, the dual-loop ADRC attitude control method has better control quality in tracking speed, tracking error, and system anti-interference ability. The control parameters to be adjusted in this method have distinct physical significance. So this method has a wide range of engineering application prospects.

CFHBA-PID Algorithm: Dual-Loop PID Balancing Robot Attitude Control Algorithm Based on Complementary Factor and Honey Badger Algorithm.

The PID control algorithm for balancing robot attitude control suffers from the problem of difficult parameter tuning. Previous studies have proposed using metaheuristic algorithms to tune the PID parameters. However, traditional metaheuristic algorithms are subject to the criticism of premature convergence and the possibility of falling into local optimum solutions. Therefore, the present paper proposes a CFHBA-PID algorithm for balancing robot Dual-loop PID attitude control based on Honey Badger Algorithm (HBA) and CF-ITAE. On the one hand, HBA maintains a sufficiently large population diversity throughout the search process and employs a dynamic search strategy for balanced exploration and exploitation, effectively avoiding the problems of classical intelligent optimization algorithms and serving as a global search. On the other hand, a novel complementary factor (CF) is proposed to complement integrated time absolute error (ITAE) with the overshoot amount, resulting in a new rectification indicator CF-ITAE, which balances the overshoot amount and the response time during parameter tuning. Using balancing robot as the experimental object, HBA-PID is compared with AOA-PID, WOA-PID, and PSO-PID, and the results demonstrate that HBA-PID outperforms the other three algorithms in terms of overshoot amount, stabilization time, ITAE, and convergence speed, proving that the algorithm combining HBA with PID is better than the existing mainstream algorithms. The comparative experiments using CF prove that CFHBA-PID is able to effectively control the overshoot amount in attitude control. In conclusion, the CFHBA-PID algorithm has great control and significant results when applied to the balancing robot.

Scheduling PID Attitude and Position Control Frequencies for Time-Optimal Quadrotor Waypoint Tracking under Unknown External Disturbances

Recently, the use of quadrotors has increased in numerous applications, such as agriculture, rescue, transportation, inspection, and localization. Time-optimal quadrotor waypoint tracking is defined as controlling quadrotors to follow the given waypoints as quickly as possible. Although PID control is widely used for quadrotor control, it is not adaptable to environmental changes, such as various trajectories and dynamic external disturbances. In this work, we discover that adjusting PID control frequencies is necessary for adapting to environmental changes by showing that the optimal control frequencies can be different for different environments. Therefore, we suggest a method to schedule the PID position and attitude control frequencies for time-optimal quadrotor waypoint tracking. The method includes (1) a Control Frequency Agent (CFA) that finds the best control frequencies in various environments, (2) a Quadrotor Future Predictor (QFP) that predicts the next state of a quadrotor, and (3) combining the CFA and QFP for time-optimal quadrotor waypoint tracking under unknown external disturbances. The experimental results prove the effectiveness of the proposed method by showing that it reduces the travel time of a quadrotor for waypoint tracking.

Attitude control of fixed-wing UCAV based on adaptive fuzzy PID

Aiming at the nonlinear and strong coupling characteristics of the fixed-wing UCAV’s rigid body six-degree-of-freedom model, an adaptive fuzzy PID attitude control method was designed based on expert experience. The nonlinear model of UCAV was linearized with the principle of small disturbance, thus the state space expressions of longitudinal and lateral channels were obtained and the decoupling of the longitudinal and lateral channels was achieved. To verify the designed adaptive fuzzy PID controller, the simulation was carried out aiming at the pitch angle and velocity of the longitudinal channel and the roll angle of the lateral channel. The result showed that the designed controller had faster responsive speed and higher stability, and it could control the UCAV to achieve the desired attitude effectively.

Hybrid Adaptive Control for Aerial Manipulation

This paper presents a control scheme to achieve dynamic stability in a mobile manipulating unmanned aerial vehicle (MM-UAV) using a combination of Gain scheduling and Lyapunov based model reference adaptive control (MRAC). Our test flight results indicate that we can accurately model and control our aerial vehicle when both moving the manipulators and interacting with target objects. Using the Lyapunov stability theory, the controller is proven to be stable. The simulation results showed how the MRAC is capable of stabilizing the oscillations produced from the unstable PI-D attitude control loop. Finally a high level control system based on a switching automaton is proposed in order to ensure the saftey of the aerial manipulation missions.

An Adaptive Tuning Strategy of PID Attitude Control System

This paper describes a procedure for tuning PID attitude control system of a launch vehicle. The key idea is a method based on a model reference adaptive system to estimate PID control gains. The launch vehicle is considered a rigid body. Since the performance specification is considered as a second order system and the close loop of the launch vehicle PID attitude control system has fourth order with two zeros, there is no matching between model reference and launch vehicle control system. The simulation results of the proposed tuning method are compared with a LQR method.

Representation of control systems for preliminary Space Station design

Introduction T field of control/structure interaction combines the two disciplines of structural dynamics and control engineering. This pairing can also imply combining two sets of software tools, one for each discipline. For applications where the control systems can be represented as linear dynamic components, however, it is often possible to analyze the control/structure interaction problem within a structural dynamics code. Proportional plus derivative controllers with collocated sensors and actuators provide a trivial case that can be represented by springs and dampers. This paper extends the representation to arbitrary multiple-input multipleoutput linear control systems. When the approach is applicable, it offers some advantages over the more common approach of transferring modal data to a control system simulation code. Elimination of excess software accelerates turnaround time for simulations, while reducing training time. A more significant advantage is that the structural dynamics routine treats the problem in physical coordinates, which allows the plotting of the closed-loop mode shapes. This can greatly increase the engineer's physical insight into the problem. Analyses that can be performed using this approach include the evaluation of closed-loop eigenvalues and eigenvectors (stability analysis). Transient response to physical forcing functions can be calculated along with openor closed-loop transfer functions (Bode plots). Although most structural dynamics routines do not offer a root-locus capability, this can be performed by manually varying a parameter and recalculating closed-loop eigenvalues. In summary, most of the linear analyses available to the control engineer can be performed directly in a structural dynamics routine. This paper is organized as follows: First, the method for incorporating control systems is described; next, examples of PID attitude control and manipulator control on a realistic space station model are presented, followed by some conclusions. The overall software approach is described in greater detail in Refs. 1-3.