Nonlinear PID-Type Controller for Quadrotor Trajectory Tracking

Javier Moreno-Valenzuela; Ricardo Perez-Alcocer; Manuel Guerrero-Medina; Alejandro Dzul

doi:10.1109/TMECH.2018.2855161

Nonlinear PID-Type Controller for Quadrotor Trajectory Tracking

Javier Moreno-Valenzuela, Ricardo Perez-Alcocer, Manuel Guerrero-Medina, Alejandro Dzul

Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI)

Research output: Contribution to journal › Article

16 Scopus citations

Abstract

© 1996-2012 IEEE. A novel proportional-integral-derivative (PID)-type motion controller for a quadrotor is introduced in this paper. A rigorous analysis of the closed-loop system trajectories is provided, and gain tuning guidelines are discussed. Real-time experimental results consisting of the implementation of a PID-based scheme, a sliding-mode controller, and the new scheme are given. Gains are selected so that the three tested controllers present the same energy consumption. In order to assess the robustness of the controllers tested, experiments are carried out in the presence of disturbances in one of the actuators. Specifically, the disturbance consists in attenuating the force delivered. Better tracking accuracy is obtained with the introduced nonlinear PID-type algorithm.

Original language	American English
Pages (from-to)	2436-2447
Number of pages	2191
Journal	IEEE/ASME Transactions on Mechatronics
DOIs	https://doi.org/10.1109/TMECH.2018.2855161
State	Published - 1 Oct 2018

Fingerprint

Cite this

Moreno-Valenzuela, J., Perez-Alcocer, R., Guerrero-Medina, M., & Dzul, A. (2018). Nonlinear PID-Type Controller for Quadrotor Trajectory Tracking. IEEE/ASME Transactions on Mechatronics, 2436-2447. https://doi.org/10.1109/TMECH.2018.2855161

@article{85336b19cd0e44429cae7ecf74ffe7ed,

title = "Nonlinear PID-Type Controller for Quadrotor Trajectory Tracking",

abstract = "{\textcopyright} 1996-2012 IEEE. A novel proportional-integral-derivative (PID)-type motion controller for a quadrotor is introduced in this paper. A rigorous analysis of the closed-loop system trajectories is provided, and gain tuning guidelines are discussed. Real-time experimental results consisting of the implementation of a PID-based scheme, a sliding-mode controller, and the new scheme are given. Gains are selected so that the three tested controllers present the same energy consumption. In order to assess the robustness of the controllers tested, experiments are carried out in the presence of disturbances in one of the actuators. Specifically, the disturbance consists in attenuating the force delivered. Better tracking accuracy is obtained with the introduced nonlinear PID-type algorithm.",

author = "Javier Moreno-Valenzuela and Ricardo Perez-Alcocer and Manuel Guerrero-Medina and Alejandro Dzul",

year = "2018",

month = oct,

day = "1",

doi = "10.1109/TMECH.2018.2855161",

language = "American English",

pages = "2436--2447",

journal = "IEEE/ASME Transactions on Mechatronics",

issn = "1083-4435",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - JOUR

T1 - Nonlinear PID-Type Controller for Quadrotor Trajectory Tracking

AU - Moreno-Valenzuela, Javier

AU - Perez-Alcocer, Ricardo

AU - Guerrero-Medina, Manuel

AU - Dzul, Alejandro

PY - 2018/10/1

Y1 - 2018/10/1

N2 - © 1996-2012 IEEE. A novel proportional-integral-derivative (PID)-type motion controller for a quadrotor is introduced in this paper. A rigorous analysis of the closed-loop system trajectories is provided, and gain tuning guidelines are discussed. Real-time experimental results consisting of the implementation of a PID-based scheme, a sliding-mode controller, and the new scheme are given. Gains are selected so that the three tested controllers present the same energy consumption. In order to assess the robustness of the controllers tested, experiments are carried out in the presence of disturbances in one of the actuators. Specifically, the disturbance consists in attenuating the force delivered. Better tracking accuracy is obtained with the introduced nonlinear PID-type algorithm.

AB - © 1996-2012 IEEE. A novel proportional-integral-derivative (PID)-type motion controller for a quadrotor is introduced in this paper. A rigorous analysis of the closed-loop system trajectories is provided, and gain tuning guidelines are discussed. Real-time experimental results consisting of the implementation of a PID-based scheme, a sliding-mode controller, and the new scheme are given. Gains are selected so that the three tested controllers present the same energy consumption. In order to assess the robustness of the controllers tested, experiments are carried out in the presence of disturbances in one of the actuators. Specifically, the disturbance consists in attenuating the force delivered. Better tracking accuracy is obtained with the introduced nonlinear PID-type algorithm.

UR - https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85049808637&origin=inward

UR - https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=85049808637&origin=inward

U2 - 10.1109/TMECH.2018.2855161

DO - 10.1109/TMECH.2018.2855161

M3 - Article

SP - 2436

EP - 2447

JO - IEEE/ASME Transactions on Mechatronics

JF - IEEE/ASME Transactions on Mechatronics

SN - 1083-4435

ER -

Access to Document

10.1109/TMECH.2018.2855161