Comparative of Ziegler Nichols, Fuzzy Logic and Extremum Seeking Based Proportional Integral Derivative Controller for Quadcopter Unmanned Aerial Vehicle Stability Control

  • Kayode Ebenezer Ojo Bells University of Technology Ota Ogun state Nigeria
  • Oluwole A. Adegbola Ladoke Akintola University of Technology, Ogbomoso
  • David O. Aborisade Ladoke Akintola University of Technology, Ogbomoso
Keywords: Fuzzy logic, PID controller, Speed control, Unmanned aerial vehicle, Ziegler Nichols

Abstract

Unmanned aerial vehicle is potentially recognized in autonomous sectors where intelligence gathering, surveillance, reconnaissance missions, power line inspection, aerial video, search and rescue monitoring devices are required. It is essential in modern era control and monitoring especially a rotary unit where quadcopter performed a crucial task. However, the flight behavior of a quadcopter is determined by the synchronous speed of each of the motors as the speed changes with load torque variations. The dynamics model equation of the system, external disturbances and its parameters variation of the motor makes it difficult for the manual tuning techniques employed into the system to perform its stability operation. The purpose of this work is to employ adaptive controllers to enhance the stability performance so as to prevent the risk of human lives and financial implication that may arise from improper monitoring of the system. Therefore, Ziegler Nichols, fuzzy logic and extremum seeking controllers were employed to auto-tuned the parameters of proportional integral derivative (PID) gains controller to optimize and give a satisfactory performance of motor speed control at different operating condition. The altitude, pitch, roll and yaw parameters of the quadcopter are simulated using the x-plane II flight simulator MATLAB tools. The simulation results presented in this work show better performance for extremum seeking-PID in terms of decrease in rise time, settling time and overshoot relative to Zigler-Nichols-PID and Fuzzy-PID controllers.

Downloads

Download data is not yet available.

References

C. Gomez, M. Moarref, and L. Rodrigues, “Multiloop controller design for fly-by wireless UAV quadcopter based on a multirate sample data model,” IEEE Transactions on Aerospace and Electronic systems,” vol. 3, no. 4, pp. 2319-2332, 2015.

C. H. Ghazi, B. M. Hameed, A. H. Albakier, “Review of hexacopter drone,” International Journal of Scientific and Engineering Research,” vol. 9, no. 4, pp. 203-210, 2018.

E. Abbasi, M. J. Mahoob, and R. Yazdanpanah, “Controlling of quadcopter UAV using a fuzzy system for tuning the PID gains in hovering model,” Center for Mechatronics and Automation, College of Engineering of Tehran, 2018.

M. D. Hua, and H. Rifai, “Obstacle avoidance for teleoperated underactuated aerial vehicles using telemetric measurement,” IEEE Conference on Control and Decision, vol. 6, no. 2, pp. 262–267, 2010.

A. L. Salih, M. H. Moghavvemi, A. F. Mohammed, and K. S. Gaeid, “Flight PID controller design for a UAV quadrotor,” Scientific Research and Essays, vol. 5, pp. 3660- 3667, 2010.

H. Bouadi, and M. Tadjine, “Nonlinear observer design and sliding mode control of four rotors helicopter,” Proceedings of World Academy of Science, Engineering and Technology, vol. 25, pp. 225–230, 2007.

J-P. Yaacoub, H. Noura, O. Salman, A. Chehab, "Security analysis of drones systems: Attacks, limitations, and recommendations," Internet of Things, vol. 11, 2020, https://doi.org/10.1016/j.iot.2020.100218

K. Sangram, and A. Mehetab, “Design and tuning method of PID controller based on fuzzy logic and genetic algorithm,” IEEE Transaction on Power Electronics, vol. 3, no. 8, pp. 65-71, 2011.

K. B. Ariyur, and M. Krstic, “Real-time optimization of extremum seeking feedback control,” IEEE Transaction on Automatic Control, vol. 47, pp. 57-63, 2003.

E. N. Johnson, and S. K. Kannan, “Adaptive flight-control for an autonomous unmanned helicopter,” AIAA Guidance Navigation and Control Conference Exhibit, 5 – 8 August, Monterey, California, 2002.

R. Imran, M. Odeh, T. Zorba, and K. Verikoukis, “Spatial opportunistic transmission for quality of experience satisfaction,” Journal of Visual Communication and Representation, vol. 25, no. 3, pp. 65-82, 2013, DOI: 10.1016/j.jvcir.2013.08.014

J. G. Leishman, “Principles of helicopter aerodynamics,” 2nd ed., New York, NY Cambridge University Press, 2000.

C. Jose, J. C. Junior, G. V, Paula, and C. B. Marlio, “Stability control of a quad rotor using a PID controller”, Brazilian Journal of Instrumentation and Control, vol. 1, no. 1, pp. 321-334, 2013, DOI: 10.3895/S2318-45312013000100003.

M. Muller, and R. D’Adrea, “Stability and control of a quadcopter despite the complete loss of one, two and three propellers,” IEEE International Conference on Robotics and Automation (ICRA), May 31-June 7, Hong Kong, China 2014.

N. Arbab, Y. Dai, and A. Syed, “Stable hovering flight for a small unmanned helicopter using fuzzy control,” Mathematical Problems in Engineering, vol. 4, pp. 208-223, 2014.

Z. Bittar, P. Piljek, D. Kotarski, “Mathematical modeling of unmanned aerial vehicles with four rotors,” Interdisciplinary Description of Complex Systems, vol. 5, no. 14, pp. 88-100, 2016.

F. S. L. Diego, and D. Q. P. Jesús, “PID controller applied to an unmanned aerial vehicle,” ARPN Journal of Engineering and Applied Sciences, vol. 13, no. 1, pp. 325-334, 2018.

M. C. P. Santos, C. D. Rosales, J. A. Sarapura, F. M. Sarcinelli, and R. Carelli, “An adaptive dynamic controller for quadrotor to perform trajectory tracking tasks,” Journal of Intelligence & Robot System, vol. 93, pp. 5-16, 2019.

H. J. Jayakrishnan, "Position and attitude control of a quadrotor UAV using super twisting sliding mode," IFAC-PapersOnLine, vol. 49, no. 1, pp.284-289, 2016.

J. J. Xiong, and E. H. Zheng, “Position and attitude tracking control for a quadrotor UAV,” ISA Transactions, vol. 53, no. 3, pp. 725-731, 2014.

J. Muliadi, and B. Kusumoputro, “Neural network control system of UAV altitude dynamics and its comparison with the PID control system,” Journal of Advanced Transportation, vol. 2018, Article ID 3823201, 2018, https://doi.org/10.1155/2018/3823201

Published
2021-07-02
How to Cite
Ojo, K. E., Adegbola, O. A., & Aborisade, D. O. (2021). Comparative of Ziegler Nichols, Fuzzy Logic and Extremum Seeking Based Proportional Integral Derivative Controller for Quadcopter Unmanned Aerial Vehicle Stability Control. Journal of Electrical, Control and Technological Research, 3, 1-10. https://doi.org/10.37121/jectr.vol3.161
Section
Review Article