Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach
Due to their enormous characteristics and applicability, quadrotor unmanned aerial vehicles (UAVs) have enjoyed much popularity lately. However, designing a stable control strategy for quadrotors still remains one of the major concerns mainly due to the requirement of an accurate system model. They...
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Hindawi Limited
2023
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oai:scholars.utp.edu.my:380292023-12-11T03:01:40Z http://scholars.utp.edu.my/id/eprint/38029/ Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach Hoshu, A.A. Mustafa Abro, G.E. Alhussein, M. Tunio, I.A. Aurangzeb, K. Ali, A. Due to their enormous characteristics and applicability, quadrotor unmanned aerial vehicles (UAVs) have enjoyed much popularity lately. However, designing a stable control strategy for quadrotors still remains one of the major concerns mainly due to the requirement of an accurate system model. They are naturally underactuated systems, with complex and nonlinear dynamics as well as interaxes couplings. Considering the dynamical complexities of these vehicles, one of the efficient methods is to utilize the relay feedback experiments and automatic tuning approach to tackle these issues. This paper investigates the employment of the relay with embedded integrator approach, wherein the quadrotor dynamics are estimated effectively with minimal parameters as compared to previously utilized relay with hysteresis technique. Frequency sampling filter (FSF) is further utilized for the extraction of the needful data through the signals obtained using the relay experiments, followed by the estimation of the plant dynamics. PID controllers have then been developed using the approximated quadrotor models. Which are used in the proposed cascade control structure for the quadrotor. The demonstrated results and analysis present the efficacy of designed control system technique for the quadrotor UAV. © 2023 Ayaz Ahmed Hoshu et al. Hindawi Limited 2023 Article NonPeerReviewed Hoshu, A.A. and Mustafa Abro, G.E. and Alhussein, M. and Tunio, I.A. and Aurangzeb, K. and Ali, A. (2023) Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach. International Journal of Aerospace Engineering, 2023. ISSN 16875966 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85175329620&doi=10.1155%2f2023%2f6651286&partnerID=40&md5=20fa46e9ccbf329148e21f564485515a 10.1155/2023/6651286 10.1155/2023/6651286 10.1155/2023/6651286 |
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Due to their enormous characteristics and applicability, quadrotor unmanned aerial vehicles (UAVs) have enjoyed much popularity lately. However, designing a stable control strategy for quadrotors still remains one of the major concerns mainly due to the requirement of an accurate system model. They are naturally underactuated systems, with complex and nonlinear dynamics as well as interaxes couplings. Considering the dynamical complexities of these vehicles, one of the efficient methods is to utilize the relay feedback experiments and automatic tuning approach to tackle these issues. This paper investigates the employment of the relay with embedded integrator approach, wherein the quadrotor dynamics are estimated effectively with minimal parameters as compared to previously utilized relay with hysteresis technique. Frequency sampling filter (FSF) is further utilized for the extraction of the needful data through the signals obtained using the relay experiments, followed by the estimation of the plant dynamics. PID controllers have then been developed using the approximated quadrotor models. Which are used in the proposed cascade control structure for the quadrotor. The demonstrated results and analysis present the efficacy of designed control system technique for the quadrotor UAV. © 2023 Ayaz Ahmed Hoshu et al. |
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Hoshu, A.A. Mustafa Abro, G.E. Alhussein, M. Tunio, I.A. Aurangzeb, K. Ali, A. |
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Hoshu, A.A. Mustafa Abro, G.E. Alhussein, M. Tunio, I.A. Aurangzeb, K. Ali, A. Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach |
author_facet |
Hoshu, A.A. Mustafa Abro, G.E. Alhussein, M. Tunio, I.A. Aurangzeb, K. Ali, A. |
author_sort |
Hoshu, A.A. |
title |
Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach |
title_short |
Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach |
title_full |
Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach |
title_fullStr |
Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach |
title_full_unstemmed |
Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach |
title_sort |
cascaded control system design for quadrotor uav through relay with embedded integrator-based automatic tuning approach |
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Hindawi Limited |
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2023 |
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http://scholars.utp.edu.my/id/eprint/38029/ https://www.scopus.com/inward/record.uri?eid=2-s2.0-85175329620&doi=10.1155%2f2023%2f6651286&partnerID=40&md5=20fa46e9ccbf329148e21f564485515a |
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13.18916 |