A gradient optimization based PID tuning approach on quadrotor

Quadrotor helicopter is becoming a popular smart equipment these years, in entertainment, transportation and military areas. Flight control is the foundation of all functions applied on quadrotor. PID controller, as a classical but reliable design, is widely used in quadrotor flight control. In the...

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Bibliographic Details
Published inThe 27th Chinese Control and Decision Conference (2015 CCDC) pp. 1588 - 1593
Main Authors Jiangcheng Zhu, Endong Liu, Shan Guo, Chao Xu
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2015
Subjects
Cost function
Gradient Optimization
Mathematical model
PD control
PID tuning
Propellers
Quadrotor
Tuning
Vehicle dynamics
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Summary:Quadrotor helicopter is becoming a popular smart equipment these years, in entertainment, transportation and military areas. Flight control is the foundation of all functions applied on quadrotor. PID controller, as a classical but reliable design, is widely used in quadrotor flight control. In the previous experiments, the PID coefficients are set empirically. In this paper, a coefficient tuning approach based on gradient optimization is introduced. The intended application is to tune the PID coefficients under an optimization cost function. This method is assessed by both simulation. The analysis of the experiment results gives suggestion in quadrotor design and parameter tuning.
ISSN:1948-9439
DOI:10.1109/CCDC.2015.7162172