Implementation of a novel optimal PID methods in UAV Applications

Shanna Bin Safwan; Fatima Alkhoori; Yahya Zweiri; M. Necip Sahinkaya

doi:10.1109/ICARM.2018.8610679

Implementation of a novel optimal PID methods in UAV Applications

Shanna Bin Safwan
, Fatima Alkhoori
, Yahya Zweiri
, M. Necip Sahinkaya

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, a novel analytical tuning methodology for PID gains, based on Linear Quadratic Regulator (LQR) optimal control, for linear systems is developed. The proposed methodology uses once LQR in order to obtain different PID configurations (P, PI, PD, PID). The effectiveness and the applicability of the proposed methodology are demonstrated under different control scenarios in simulation using a quad-copter Unmanned Aerial Vehicle (UAV). The results of this methodology show good control response measures. Moreover, the computational time of (lqr) Matlab built-in function is compared against Riccati solution using invariant subspace approach. The later requires less computational time.

Original language	English
Title of host publication	Published in: 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM), Singapore. Pitscaway : Institute of Electrical and Electronics Engineers. 2018, pp. 256-261. ISBN: 9781538670668 doi: 10.1109/ICARM.2018.8610679
DOIs	https://doi.org/10.1109/ICARM.2018.8610679
Publication status	Published - Jul 2018

Bibliographical note

Note: Published in: 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM), Singapore. Pitscaway : Institute of Electrical and Electronics Engineers. 2018, pp. 256-261. ISBN: 9781538670668
doi: 10.1109/ICARM.2018.8610679

Keywords

Mechanical, aeronautical and manufacturing engineering

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10.1109/ICARM.2018.8610679

https://doi.org/10.1109/ICARM.2018.8610679

Cite this

Bin Safwan, S., Alkhoori, F., Zweiri, Y., & Sahinkaya, M. N. (2018). Implementation of a novel optimal PID methods in UAV Applications. In Published in: 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM), Singapore. Pitscaway : Institute of Electrical and Electronics Engineers. 2018, pp. 256-261. ISBN: 9781538670668 doi: 10.1109/ICARM.2018.8610679 https://doi.org/10.1109/ICARM.2018.8610679

Bin Safwan, Shanna ; Alkhoori, Fatima ; Zweiri, Yahya et al. / Implementation of a novel optimal PID methods in UAV Applications. Published in: 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM), Singapore. Pitscaway : Institute of Electrical and Electronics Engineers. 2018, pp. 256-261. ISBN: 9781538670668 doi: 10.1109/ICARM.2018.8610679. 2018.

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title = "Implementation of a novel optimal PID methods in UAV Applications",

abstract = "In this paper, a novel analytical tuning methodology for PID gains, based on Linear Quadratic Regulator (LQR) optimal control, for linear systems is developed. The proposed methodology uses once LQR in order to obtain different PID configurations (P, PI, PD, PID). The effectiveness and the applicability of the proposed methodology are demonstrated under different control scenarios in simulation using a quad-copter Unmanned Aerial Vehicle (UAV). The results of this methodology show good control response measures. Moreover, the computational time of (lqr) Matlab built-in function is compared against Riccati solution using invariant subspace approach. The later requires less computational time.",

keywords = "Mechanical, aeronautical and manufacturing engineering",

author = "\{Bin Safwan\}, Shanna and Fatima Alkhoori and Yahya Zweiri and Sahinkaya, \{M. Necip\}",

note = "Note: Published in: 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM), Singapore. Pitscaway : Institute of Electrical and Electronics Engineers. 2018, pp. 256-261. ISBN: 9781538670668 doi: 10.1109/ICARM.2018.8610679",

year = "2018",

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doi = "10.1109/ICARM.2018.8610679",

language = "English",

booktitle = "Published in: 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM), Singapore. Pitscaway : Institute of Electrical and Electronics Engineers. 2018, pp. 256-261. ISBN: 9781538670668 doi: 10.1109/ICARM.2018.8610679",

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Bin Safwan, S, Alkhoori, F, Zweiri, Y & Sahinkaya, MN 2018, Implementation of a novel optimal PID methods in UAV Applications. in Published in: 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM), Singapore. Pitscaway : Institute of Electrical and Electronics Engineers. 2018, pp. 256-261. ISBN: 9781538670668 doi: 10.1109/ICARM.2018.8610679. https://doi.org/10.1109/ICARM.2018.8610679

Implementation of a novel optimal PID methods in UAV Applications. / Bin Safwan, Shanna; Alkhoori, Fatima; Zweiri, Yahya et al.
Published in: 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM), Singapore. Pitscaway : Institute of Electrical and Electronics Engineers. 2018, pp. 256-261. ISBN: 9781538670668 doi: 10.1109/ICARM.2018.8610679. 2018.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Bin Safwan, Shanna

AU - Alkhoori, Fatima

AU - Zweiri, Yahya

AU - Sahinkaya, M. Necip

N1 - Note: Published in: 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM), Singapore. Pitscaway : Institute of Electrical and Electronics Engineers. 2018, pp. 256-261. ISBN: 9781538670668 doi: 10.1109/ICARM.2018.8610679

PY - 2018/7

Y1 - 2018/7

N2 - In this paper, a novel analytical tuning methodology for PID gains, based on Linear Quadratic Regulator (LQR) optimal control, for linear systems is developed. The proposed methodology uses once LQR in order to obtain different PID configurations (P, PI, PD, PID). The effectiveness and the applicability of the proposed methodology are demonstrated under different control scenarios in simulation using a quad-copter Unmanned Aerial Vehicle (UAV). The results of this methodology show good control response measures. Moreover, the computational time of (lqr) Matlab built-in function is compared against Riccati solution using invariant subspace approach. The later requires less computational time.

AB - In this paper, a novel analytical tuning methodology for PID gains, based on Linear Quadratic Regulator (LQR) optimal control, for linear systems is developed. The proposed methodology uses once LQR in order to obtain different PID configurations (P, PI, PD, PID). The effectiveness and the applicability of the proposed methodology are demonstrated under different control scenarios in simulation using a quad-copter Unmanned Aerial Vehicle (UAV). The results of this methodology show good control response measures. Moreover, the computational time of (lqr) Matlab built-in function is compared against Riccati solution using invariant subspace approach. The later requires less computational time.

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DO - 10.1109/ICARM.2018.8610679

M3 - Conference contribution

BT - Published in: 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM), Singapore. Pitscaway : Institute of Electrical and Electronics Engineers. 2018, pp. 256-261. ISBN: 9781538670668 doi: 10.1109/ICARM.2018.8610679

ER -

Bin Safwan S, Alkhoori F, Zweiri Y, Sahinkaya MN. Implementation of a novel optimal PID methods in UAV Applications. In Published in: 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM), Singapore. Pitscaway : Institute of Electrical and Electronics Engineers. 2018, pp. 256-261. ISBN: 9781538670668 doi: 10.1109/ICARM.2018.8610679. 2018 doi: 10.1109/ICARM.2018.8610679

Implementation of a novel optimal PID methods in UAV Applications

Abstract

Bibliographical note

Keywords

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Implementation of a novel optimal PID methods in UAV Applications

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