Please use this identifier to cite or link to this item: http://er.nau.edu.ua:8080/handle/NAU/37220
Title: Setting the PID Controller for Controlling Quadrotor Flight: a Gradient Approach
Authors: Kucherov, Dmytro Pavlovcih
Kucherov, Dmytro P.
Kucherov, D.
Кучеров, Дмитро Павлович
Кучеров, Д.П.
Кучеров, Дмитрий Павлович
Keywords: PID controller
UAV
Issue Date: Dec-2018
Publisher: IEEE, National Aviation University
Abstract: The paper deals with the design of an autopilot for a quadrotor based on a PID controller. A mathematical description of the control object in form of the system of second-order differential equations is also presented. Setting the parameters of the PID controller is an iterative procedure. The paper investigates three optimal tuning algorithms based on minimizing the quality integral: coordinate descent, gradient descent, and steepest descent. During the research, a number of advantages of the gradient search algorithm are established. Gradient search is used as the main design method; on its basis, the autopilot model is synthesizing. Some simulation results are presented, which are confirmed by the Simulink autopilot model.
Description: The paper deals with the design of an autopilot for a quadrotor based on a PID controller. A mathematical description of the control object in form of the system of second-order differential equations is also presented. Setting the parameters of the PID controller is an iterative procedure. The paper investigates three optimal tuning algorithms based on minimizing the quality integral: coordinate descent, gradient descent, and steepest descent. During the research, a number of advantages of the gradient search algorithm are established. Gradient search is used as the main design method; on its basis, the autopilot model is synthesizing. Some simulation results are presented, which are confirmed by the Simulink autopilot model.
URI: http://er.nau.edu.ua:8080/handle/NAU/37220
ISBN: 978-1-5386-5869-7
Appears in Collections:Наукові статті кафедри КСУ

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