Nowadays, manipulation of quad-rotors faces complexity in controller parameter tuning process and system instability under uncertainties. Internal model control is featured with less controller parameters, simpler tuning process than conventional methods, good robustness and perfect capability in rejection of uncertainties. All its merits can be applied in the field of nano-quad-rotor control since its internal model is easy to be obtained and the suffered uncertainties, especially persistent ones such as model uncertainties and winds, can be rejected by the algorithm effectively. In this paper, an internal model control cascade Proportion-Integration-Differentiation (PID) method is developed to enhance the robustness and improve the capability of uncertainty rejection of nano-quad-rotors flying under persistent uncertainties. The system can be stabilized in a very easy way with all controller parameters tuned within 0 to 1. Comparison with internal model control method was carried out numerically; the results show that, in dealing with persistent uncertainties, the internal model control cascade PID-based method presents significant superiority in the maintenance of both the accuracy of trajectory tracking and the stability of attitude.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    An internal model control-cascade Proportion-Integration-Differentiation method for manipulation of nano-quad-rotors


    Contributors:
    Wang, Yuan (author) / Zheng, Xiangming (author) / Li, Hongda (author) / Li, Xiaoran (author)


    Publication date :

    2019-06-01


    Size :

    8 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Design Optimization of Small Rotors in Quad-Rotor Configuration

    Carroll, Tim / George, Issi-Rae E. / Bramesfeld, Goetz | AIAA | 2016



    Flexible Heuristic Dynamic Programming for Reinforcement Learning in Quad-Rotors

    Helmer, Alexander / de Visser, Coen C. / Van Kampen, Erik-Jan | AIAA | 2018


    Leader-follower robust formation control for Quad-Rotors via continuous sliding-modes

    Gonzalez-Sierra, Jaime / Rios, Hector / Dzul, Alejandro | IEEE | 2017


    Vehicle speed PID (Proportion Integration Differentiation) control correction method, correction device and vehicle

    ZHU JIEYOU / YIN YUEXIANG / ZHAO XIDA et al. | European Patent Office | 2024

    Free access