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: Contribution to conference › Paper › 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
DOIs	https://doi.org/10.1109/ICARM.2018.8610679
Publication status	Published - Jul 2018
Event	2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM) - Singapore Duration: 18 Jul 2018 → 20 Jul 2018

Conference

Conference	2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)
Period	18/07/18 → 20/07/18

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

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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.",

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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; 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM) ; Conference date: 18-07-2018 Through 20-07-2018",

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doi = "10.1109/ICARM.2018.8610679",

language = "English",

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TY - CONF

T1 - Implementation of a novel optimal PID methods in UAV Applications

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.

KW - Mechanical, aeronautical and manufacturing engineering

UR - https://ieeexplore.ieee.org/document/8610679

U2 - 10.1109/ICARM.2018.8610679

DO - 10.1109/ICARM.2018.8610679

M3 - Paper

T2 - 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)

Y2 - 18 July 2018 through 20 July 2018

ER -

Implementation of a novel optimal PID methods in UAV Applications

Abstract

Conference

Bibliographical note

Keywords

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