Design of Hover Flying Adaptive PD Controller for Four Rotor Unmanned Aerial Vehicle

An adaptive PD controller design method based on model reference is proposed, which is used to control the suspension of the four rotorcraft with variable quality. The reference model is obtained by approximating the attitude angle of the hovercraft by the kinetic equation of the UAV, and a second o...

Full description

Saved in:
Bibliographic Details
Published in2020 International Conference on Computer Engineering and Intelligent Control (ICCEIC) pp. 280 - 286
Main Authors Li, Aitang, Fan, Dan, Cao, Xiaowen, Nie, Yan, Yang, Yuhang, Zhang, Ye
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2020
Subjects
Adaptation models
adaptive
four-rotor unmanned aerial vehicle
hover flight
Mathematical model
PD control
proportional differential controller
Simulation
Stability analysis
Time-varying systems
Vehicle dynamics
Online AccessGet full text

Cover

More Information
Summary:An adaptive PD controller design method based on model reference is proposed, which is used to control the suspension of the four rotorcraft with variable quality. The reference model is obtained by approximating the attitude angle of the hovercraft by the kinetic equation of the UAV, and a second order system is selected according to the reference model which is similar to the actual system and has the expected dynamic characteristics. Based on the method of Lyapunov's stability theory, the parameters of the controller are determined by the error between the output of the controlled object and the output of the reference model. When the controlled object parameter changes, the adaptive mechanism adjusts the PD controller by parameter estimation so that the estimated value of the controlled object parameter can always track its actual value. The adaptive controller is compared with the conventional PD controller and the PD controller with speed limit compensation in the simulation experiment. The results show that the control signal of the controller is smaller than that of the conventional PD controller. It is faster and more stable than the PD controller with the speed limit compensation. It has better control effect on the hover of quadrotor drone.
DOI:10.1109/ICCEIC51584.2020.00060