Adaptive PID control via sliding mode for position tracking of quadrotor MAV: Simulation and real-time experiment evaluation
The lightweight nature of micro air vehicles (MAVs) makes them highly sensitive to perturbations, thus emphasizing the need for effective control strategies that can sustain attitude stability throughout translational movement. This study evaluates the performance of two controllers (Proportional-In...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI
2023
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| Online Access: | http://eprints.utm.my/104936/1/MohdAriffanan2023_AdaptivePIDControlviaSlidingModeforPosition.pdf |
| _version_ | 1796867756111429632 |
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| author | Noordin, Aminurrashid Mohd. Basri, Mohd. Ariffanan Mohamed, Zaharuddin |
| author_facet | Noordin, Aminurrashid Mohd. Basri, Mohd. Ariffanan Mohamed, Zaharuddin |
| author_sort | Noordin, Aminurrashid |
| collection | ePrints |
| description | The lightweight nature of micro air vehicles (MAVs) makes them highly sensitive to perturbations, thus emphasizing the need for effective control strategies that can sustain attitude stability throughout translational movement. This study evaluates the performance of two controllers (Proportional-Integral-Derivative (PID) and Adaptive PID based on Sliding Mode Control (SMC)) on a MAV that is subjected to external disturbances. These controllers are initially simulated using MATLAB®/Simulink™ and then implemented in real-time on the Parrot Mambo Minidrone. The observation on the waypoint follower and the orbit follower in both simulation and experiment showed that the Adaptive PID (APID) controller is more effective and robust than the PID controller against external disturbances such as wind gusts. The study provides evidence of the potential of the APID control scheme in enhancing the resilience and stability of MAVs, making them suitable for various applications including surveillance, search and rescue, and environmental monitoring. |
| first_indexed | 2024-04-09T03:45:38Z |
| format | Article |
| id | utm.eprints-104936 |
| institution | Universiti Teknologi Malaysia - ePrints |
| language | English |
| last_indexed | 2024-04-09T03:45:38Z |
| publishDate | 2023 |
| publisher | MDPI |
| record_format | dspace |
| spelling | utm.eprints-1049362024-04-01T06:12:13Z http://eprints.utm.my/104936/ Adaptive PID control via sliding mode for position tracking of quadrotor MAV: Simulation and real-time experiment evaluation Noordin, Aminurrashid Mohd. Basri, Mohd. Ariffanan Mohamed, Zaharuddin TK Electrical engineering. Electronics Nuclear engineering The lightweight nature of micro air vehicles (MAVs) makes them highly sensitive to perturbations, thus emphasizing the need for effective control strategies that can sustain attitude stability throughout translational movement. This study evaluates the performance of two controllers (Proportional-Integral-Derivative (PID) and Adaptive PID based on Sliding Mode Control (SMC)) on a MAV that is subjected to external disturbances. These controllers are initially simulated using MATLAB®/Simulink™ and then implemented in real-time on the Parrot Mambo Minidrone. The observation on the waypoint follower and the orbit follower in both simulation and experiment showed that the Adaptive PID (APID) controller is more effective and robust than the PID controller against external disturbances such as wind gusts. The study provides evidence of the potential of the APID control scheme in enhancing the resilience and stability of MAVs, making them suitable for various applications including surveillance, search and rescue, and environmental monitoring. MDPI 2023 Article PeerReviewed application/pdf en http://eprints.utm.my/104936/1/MohdAriffanan2023_AdaptivePIDControlviaSlidingModeforPosition.pdf Noordin, Aminurrashid and Mohd. Basri, Mohd. Ariffanan and Mohamed, Zaharuddin (2023) Adaptive PID control via sliding mode for position tracking of quadrotor MAV: Simulation and real-time experiment evaluation. Aerospace, 10 (6). pp. 1-23. ISSN 2226-4310 http://dx.doi.org/10.3390/aerospace10060512 DOI : 10.3390/aerospace10060512 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Noordin, Aminurrashid Mohd. Basri, Mohd. Ariffanan Mohamed, Zaharuddin Adaptive PID control via sliding mode for position tracking of quadrotor MAV: Simulation and real-time experiment evaluation |
| title | Adaptive PID control via sliding mode for position tracking of quadrotor MAV: Simulation and real-time experiment evaluation |
| title_full | Adaptive PID control via sliding mode for position tracking of quadrotor MAV: Simulation and real-time experiment evaluation |
| title_fullStr | Adaptive PID control via sliding mode for position tracking of quadrotor MAV: Simulation and real-time experiment evaluation |
| title_full_unstemmed | Adaptive PID control via sliding mode for position tracking of quadrotor MAV: Simulation and real-time experiment evaluation |
| title_short | Adaptive PID control via sliding mode for position tracking of quadrotor MAV: Simulation and real-time experiment evaluation |
| title_sort | adaptive pid control via sliding mode for position tracking of quadrotor mav simulation and real time experiment evaluation |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/104936/1/MohdAriffanan2023_AdaptivePIDControlviaSlidingModeforPosition.pdf |
| work_keys_str_mv | AT noordinaminurrashid adaptivepidcontrolviaslidingmodeforpositiontrackingofquadrotormavsimulationandrealtimeexperimentevaluation AT mohdbasrimohdariffanan adaptivepidcontrolviaslidingmodeforpositiontrackingofquadrotormavsimulationandrealtimeexperimentevaluation AT mohamedzaharuddin adaptivepidcontrolviaslidingmodeforpositiontrackingofquadrotormavsimulationandrealtimeexperimentevaluation |