A Comparative Study of Control Methods for X3D Quadrotor Feedback Trajectory Control
Unmanned aerial vehicles (UAVs), particularly quadrotor, have seen steady growth in use over the last several decades. The quadrotor is an under-actuated nonlinear system with few actuators in comparison to the degree of freedom (DOF); hence, stabilizing its attitude and positions is a significant c...
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MDPI AG
2022-09-01
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| author | Tanzeela Shakeel Jehangir Arshad Mujtaba Hussain Jaffery Ateeq Ur Rehman Elsayed Tag Eldin Nivin A. Ghamry Muhammad Shafiq |
| author_facet | Tanzeela Shakeel Jehangir Arshad Mujtaba Hussain Jaffery Ateeq Ur Rehman Elsayed Tag Eldin Nivin A. Ghamry Muhammad Shafiq |
| author_sort | Tanzeela Shakeel |
| collection | DOAJ |
| description | Unmanned aerial vehicles (UAVs), particularly quadrotor, have seen steady growth in use over the last several decades. The quadrotor is an under-actuated nonlinear system with few actuators in comparison to the degree of freedom (DOF); hence, stabilizing its attitude and positions is a significant challenge. Furthermore, the inclusion of nonlinear dynamic factors and uncertainties makes controlling its maneuverability more challenging. The purpose of this research is to design, implement, and evaluate the effectiveness of linear and nonlinear control methods for controlling an X3D quadrotor’s intended translation position and rotation angles while hovering. The dynamics of the X3D quadrotor model were implemented in Simulink. Two linear controllers, linear quadratic regulator (LQR) and proportional integral derivate (PID), and two nonlinear controllers, fuzzy controller (FC) and model reference adaptive PID Controller (MRAPC) employing the MIT rule, were devised and implemented for the response analysis. In the MATLAB Simulink Environment, the transient performance of nonlinear and linear controllers for an X3D quadrotor is examined in terms of settling time, rising time, peak time, delay time, and overshoot. Simulation results suggest that the LQR control approach is better because of its robustness and comparatively superior performance characteristics to other controllers, particularly nonlinear controllers, listed at the same operating point, as overshoot is 0.0% and other factors are minimal for the x3D quadrotor. In addition, the LQR controller is intuitive and simple to implement. In this research, all control approaches were verified to provide adequate feedback for quadrotor stability. |
| first_indexed | 2024-03-10T00:47:53Z |
| format | Article |
| id | doaj.art-458b6e8354594849b5b64e0bcf2f4c00 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T00:47:53Z |
| publishDate | 2022-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-458b6e8354594849b5b64e0bcf2f4c002023-11-23T14:55:30ZengMDPI AGApplied Sciences2076-34172022-09-011218925410.3390/app12189254A Comparative Study of Control Methods for X3D Quadrotor Feedback Trajectory ControlTanzeela Shakeel0Jehangir Arshad1Mujtaba Hussain Jaffery2Ateeq Ur Rehman3Elsayed Tag Eldin4Nivin A. Ghamry5Muhammad Shafiq6Department of Computer Science, University of Management and Technology, Lahore 54000, PakistanDepartment of Electrical & Computer Engineering, COMSATS University Islamabad Lahore Campus, Lahore 54000, PakistanDepartment of Electrical & Computer Engineering, COMSATS University Islamabad Lahore Campus, Lahore 54000, PakistanDepartment of Electrical Engineering, Government College University, Lahore 54000, PakistanFaculty of Engineering and Technology, Future University in Egypt, New Cairo 11835, EgyptFaculty of Computers and Artificial intelligence, Cairo University, Giza 3750010, EgyptDepartment of Information and Communication Engineering, Yeungnam University, Gyeongsan 38541, KoreaUnmanned aerial vehicles (UAVs), particularly quadrotor, have seen steady growth in use over the last several decades. The quadrotor is an under-actuated nonlinear system with few actuators in comparison to the degree of freedom (DOF); hence, stabilizing its attitude and positions is a significant challenge. Furthermore, the inclusion of nonlinear dynamic factors and uncertainties makes controlling its maneuverability more challenging. The purpose of this research is to design, implement, and evaluate the effectiveness of linear and nonlinear control methods for controlling an X3D quadrotor’s intended translation position and rotation angles while hovering. The dynamics of the X3D quadrotor model were implemented in Simulink. Two linear controllers, linear quadratic regulator (LQR) and proportional integral derivate (PID), and two nonlinear controllers, fuzzy controller (FC) and model reference adaptive PID Controller (MRAPC) employing the MIT rule, were devised and implemented for the response analysis. In the MATLAB Simulink Environment, the transient performance of nonlinear and linear controllers for an X3D quadrotor is examined in terms of settling time, rising time, peak time, delay time, and overshoot. Simulation results suggest that the LQR control approach is better because of its robustness and comparatively superior performance characteristics to other controllers, particularly nonlinear controllers, listed at the same operating point, as overshoot is 0.0% and other factors are minimal for the x3D quadrotor. In addition, the LQR controller is intuitive and simple to implement. In this research, all control approaches were verified to provide adequate feedback for quadrotor stability.https://www.mdpi.com/2076-3417/12/18/9254X3D quadrotorclosed-loop systemPIDLQRfuzzy controlmodel reference adaptive PID |
| spellingShingle | Tanzeela Shakeel Jehangir Arshad Mujtaba Hussain Jaffery Ateeq Ur Rehman Elsayed Tag Eldin Nivin A. Ghamry Muhammad Shafiq A Comparative Study of Control Methods for X3D Quadrotor Feedback Trajectory Control Applied Sciences X3D quadrotor closed-loop system PID LQR fuzzy control model reference adaptive PID |
| title | A Comparative Study of Control Methods for X3D Quadrotor Feedback Trajectory Control |
| title_full | A Comparative Study of Control Methods for X3D Quadrotor Feedback Trajectory Control |
| title_fullStr | A Comparative Study of Control Methods for X3D Quadrotor Feedback Trajectory Control |
| title_full_unstemmed | A Comparative Study of Control Methods for X3D Quadrotor Feedback Trajectory Control |
| title_short | A Comparative Study of Control Methods for X3D Quadrotor Feedback Trajectory Control |
| title_sort | comparative study of control methods for x3d quadrotor feedback trajectory control |
| topic | X3D quadrotor closed-loop system PID LQR fuzzy control model reference adaptive PID |
| url | https://www.mdpi.com/2076-3417/12/18/9254 |
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