ROBUST PID CONTROL TUNING FOR THE UNCERTAIN NONLINEAR DYNAMIC MODEL OF THE UNMANNED AERIAL VEHICLE
DOI:
https://doi.org/10.18372/1990-5548.53.12143Keywords:
Robust PID control, unmanned aerial vehicle, uncertain aerodynamic coefficient, linear and nonlinear uncertain dynamic model, output error method, optimization, Simulated Annealing algorithm, flying wing.Abstract
The two-step procedure is suggested to tune the robust PID control for the uncertain nonlinear dynamic system of the unmanned aerial vehicle based on the nonlinear optimization and output error method in the time domain. The suggested procedure is applied to design the robust PID control for the Skywalker X8 flying wing roll and lateral channels. For evaluating the suggested procedure, the robust PID for the Skywalker X8 flying wing roll and lateral channels is also designed using “systune” command in the Matlab Software. Suggested method can be used to design robust control with known structures for uncertain nonlinear systems.References
O. Garpinger, Analysis and Design of Software-Based Optimal PID Controllers. Department of Automatic Control, Lund Institute of Technology, Lund University, 2015.
P. Cominos and N. Munro, "PID controllers: recent tuning methods and design to specification," IEE Proceedings-Control Theory and Applications, vol. 149, no. 1, pp. 46–53, 2002.
K. J. Åström and T. Hägglund, "The future of PID control," Control engineering practice, vol. 9, no. 11, pp. 1163–1175, 2001.
K. J. Åström and T. Hägglund, PID controllers: theory, design, and tuning. Isa Research Triangle Park, NC, 1995.
P. Apkarian, P. Gahinet, and C. Buhr, "Multi-model, multi-objective tuning of fixed-structure controllers," in Control Conference (ECC), 2014 European, 2014, pp. 856–861: IEEE.
P. Gahinet and P. Apkarian, "Automated tuning of gain-scheduled control systems," in Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on, 2013, pp. 2740–2745: IEEE.
P. Mercader, K. J. Åström, A. Baños, and T. Hägglund, "Robust PID Design Based on QFT and Convex–Concave Optimization," IEEE Transactions on Control Systems Technology, vol. 25, no. 2, pp. 441–452, 2017.
J. P. Ortiz, L. I. Minchala, and M. J. Reinoso, "Nonlinear robust H-Infinity PID controller for the multivariable system quadrotor," IEEE Latin America Transactions, vol. 14, no. 3, pp. 1176–1183, 2016.
K. Li, "PID tuning for optimal closed-loop performance with specified gain and phase margins," IEEE transactions on control systems technology, vol. 21, no. 3, pp. 1024–1030, 2013.
M. Sadeghpour, V. De Oliveira, and A. Karimi, "A toolbox for robust PID controller tuning using convex optimization," IFAC Proceedings Volumes, vol. 45, no. 3, pp. 158–163, 2012.
X.-m. Liang, S.-c. Li, and A. Hassan, "A novel PID controller tuning method based on optimization technique," Journal of Central South University of Technology, vol. 17, no. 5, pp. 1036–1042, 2010.
O. Garpinger and T. Hägglund, "A software tool for robust PID design," IFAC Proceedings Volumes, vol. 41, no. 2, pp. 6416–6421, 2008.
P. Apkarian, V. Bompart, and D. Noll, "Non‐smooth structured control design with application to PID loop‐shaping of a process," International Journal of Robust and Nonlinear Control, vol. 17, no. 14, pp. 1320–1342, 2007.
R. Toscano, "A simple robust PI/PID controller design via numerical optimization approach," Journal of process control, vol. 15, no. 1, pp. 81–88, 2005.
K. H. Ang, G. Chong, and Y. Li, "PID control system analysis, design, and technology," IEEE transactions on control systems technology, vol. 13, no. 4, pp. 559–576, 2005.
Y. J. Huang and Y.-J. Wang, "Robust PID controller design for non-minimum phase time delay systems," ISA transactions, vol. 40, no. 1, pp. 31–39, 2001.
Y. J. Huang and Y.-J. Wang, "Robust PID tuning strategy for uncertain plants based on the Kharitonov theorem," ISA transactions, vol. 39, no. 4, pp. 419–431, 2000.
R. C. Dorf and R. H. Bishop, Modern control systems. Pearson, 2011.
R. W. Beard and T. W. McLain, Small unmanned aircraft: Theory and practice. Princeton university press, 2012.
K. Gryte, "High Angle of Attack Landing of an Unmanned Aerial Vehicle," NTNU, 2015.
R. F. Stengel, Flight dynamics. Princeton University Press, 2015.
H. Chapellat and S. Bhattacharyya, "A generalization of Kharitonov's theorem; Robust stability of interval plants," IEEE Transactions on Automatic Control, vol. 34, no. 3, pp. 306–311, 1989.
V. Klein and E. A. Morelli, Aircraft system identification: theory and practice. American Institute of Aeronautics and Astronautics Reston, Va, USA, 2006.
A. A. Tunik and A. N. Klipa, "Identification of mathematical model of longitudinal motion of the aircraft in the presence of noise measurement and displacement sensors biases (in Russian: Identifikacija matematicheskoj modeli prodol'nogo dvizhenija letatel'nogo apparata pri nalichii shumov izmerenij i smeshhenij datchikov)," Electronic modeling (Jelektronnoe modelirovanie), vol. 6, pp. 3–18, 2001 2001.
P. Apkarian, M. N. Dao, and D. Noll, "Parametric robust structured control design," IEEE Transactions on Automatic Control, vol. 60, no. 7, pp. 1857–1869, 2015.
P. Gahinet and P. Apkarian, "Frequency-domain tuning of fixed-structure control systems," in Control (CONTROL), 2012 UKACC International Conference on, 2012, pp. 178-183: IEEE.
P. Gahinet and P. Apkarian, "Decentralized and fixed-structure H∞ control in MATLAB," in Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on, 2011, pp. 8205–8210: IEEE.
P. Apkarian, D. Noll, and A. Rondepierre, "Nonsmooth optimization algorithm for mixed H 2/H∞ synthesis," in Decision and Control, 2007 46th IEEE Conference on, 2007, pp. 4110–4115: IEEE.
P. Apkarian and D. Noll, "Frequency domain H∞ synthesis using nonsmooth techniques," in Industrial Electronics and Applications, 2006 1ST IEEE Conference on, 2006, pp. 1–6: IEEE.
P. Pellanda, P. Apkarian, and D. Noll, "Nonsmooth H∞ Synthesis."
Downloads
Issue
Section
License
Authors who publish with this journal agree to the following terms:
Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).
