| Autor: |
Orlando Arrieta, Daniel Campos, Javier Rico-Azagra, Montserrat Gil-Martínez, José D. Rojas, Ramon Vilanova |
| Jazyk: |
angličtina |
| Rok vydání: |
2023 |
| Předmět: |
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| Zdroj: |
Mathematics, Vol 11, Iss 15, p 3390 (2023) |
| Druh dokumentu: |
article |
| ISSN: |
2227-7390 |
| DOI: |
10.3390/math11153390 |
| Popis: |
This study focuses on the modeling and control optimization of the pitch–roll angles orientation in a quad-rotor UAV (unmanned aerial vehicle) drone system. To address the control challenge, PID (proportional–integral–derivative) controllers are used, which have been tuned through a model-based optimization approach. A non-linear model of the system is obtained and further validated experimentally. The model is implemented in Simulink to conduct model-based optimization. The controller design uses an IMC (internal model control) model-based approach to establish the initial parameters for a PID controller. In the subsequent design phase, a multiobjective approach is taken, incorporating weighted cost functions that account for IAE (integral absolute error) and ITAE (integral of time-weighted absolute error) forms, along with battery usage. The outcomes of this design are showcased through simulations and real-world platform testing. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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