NDLI: Experimental study on cascaded attitude angle control of a multi-rotor unmanned aerial vehicle with the simple internal model control method

Content Provider	Springer Nature Link
Author	Song, Jun Beom Byun, Young Seop Jeong, Jin Seok Kim, Jeong Kang, Beom Soo
Copyright Year	2016
Abstract	This paper proposes a cascaded control structure and a method of practical application for attitude control of a multi-rotor Unmanned aerial vehicle (UAV). The cascade control, which has tighter control capability than a single-loop control, is rarely used in attitude control of a multi-rotor UAV due to the input-output relation, which is no longer simply a set-point to Euler angle response transfer function of a single-loop PID control, but there are multiply measured signals and interactive control loops that increase the complexity of evaluation in conventional way of design. However, it is proposed in this research a method that can optimize a cascade control with a primary and secondary loops and a PID controller for each loop. An investigation of currently available PID-tuning methods lead to selection of the Simple internal model control (SIMC) method, which is based on the Internal model control (IMC) and direct-synthesis method. Through the analysis and experiments, this research proposes a systematic procedure to implement a cascaded attitude controller, which includes the flight test, system identification and SIMC-based PID-tuning. The proposed method was validated successfully from multiple applications where the application to roll axis lead to a PID-PID cascade control, but the application to yaw axis lead to that of PID-PI.
Starting Page	5167
Ending Page	5182
Page Count	16
File Format	PDF
ISSN	1738494X
Journal	Journal of Mechanical Science and Technology
Volume Number	30
Issue Number	11
e-ISSN	19763824
Language	English
Publisher	Korean Society of Mechanical Engineers
Publisher Date	2016-11-12
Publisher Place	Seoul
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Cascade control Simple internal model control (SIMC) Quad rotor Multi-rotor Unmanned aerial vehicle PID control Frequency sweep method System identification Attitude control Mechanical Engineering Vibration, Dynamical Systems, Control Industrial and Production Engineering
Content Type	Text
Resource Type	Article
Subject	Mechanics of Materials Mechanical Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Guidance and control of a scaled-down quad tilt prop PAV

Quad-Rotor Unmanned Aerial Vehicle Helicopter Modelling & Control

Modelling and attitude control simulation of Multi-rotor Helicopter

Controlling of Quad-rotor UAV Using PID Controller and Fuzzy Logic Controller

System identification and stability evaluation of an unmanned aerial vehicle from automated flight tests

A Review on a Quad-rotor Unmanned Air Vehicle (2012)

Design and simulation of a quad rotor tail-sitter unmanned aerial vehicle

Aerodynamic analysis of tilt-rotor Unmanned Aerial Vehicle with computational fluid dynamics

Flight control systems of a quad tilt rotor Unmanned Aerial Vehicle for a large attitude change

Experimental study on cascaded attitude angle control of a multi-rotor unmanned aerial vehicle with the simple internal model control method

Similar Documents

Guidance and control of a scaled-down quad tilt prop PAV

Quad-Rotor Unmanned Aerial Vehicle Helicopter Modelling & Control

Modelling and attitude control simulation of Multi-rotor Helicopter

Controlling of Quad-rotor UAV Using PID Controller and Fuzzy Logic Controller

System identification and stability evaluation of an unmanned aerial vehicle from automated flight tests

A Review on a Quad-rotor Unmanned Air Vehicle (2012)

Design and simulation of a quad rotor tail-sitter unmanned aerial vehicle

Aerodynamic analysis of tilt-rotor Unmanned Aerial Vehicle with computational fluid dynamics

Flight control systems of a quad tilt rotor Unmanned Aerial Vehicle for a large attitude change

Experimental study on cascaded attitude angle control of a multi-rotor unmanned aerial vehicle with the simple internal model control method