Design, modeling and tuning of modified PID controller for autopilot in MAVs

The dangers of poor pilot performance as well as time and place conditions, low altitude and climate, damage critical aircraft control system. The use of Unmanned Aircraft Vehicle or (UAV) in sensitive and important Operation is required and there is a need for autopilot that can tune the MAV in different environment conditions. Furthermore, designing the controller system is one of the main discussed Dynamic issues in Flying Objects. In this paper an attempted is made to determine the optimal coefficients of PID controller that can reject disturbances and still operate the MAV in stable positions. Basic PID controller is designed and is adopted to control the MAV, a modified techniques incorporating ISA-PID is designed to reject disturbances. The PID parameters are determined to be reduce the rise time less than 3 seconds, settling time to be less than 8 seconds and overshoot to be less than 5%. The developed model is suitable for PID controller in autopilot.

[1]  Sahjendra N. Singh,et al.  Invertibility and trajectory control for nonlinear maneuvers of aircraft , 1994 .

[2]  Jan Albert Mulder,et al.  Fuzzy logic based full-envelope autonomous flight control for an atmospheric re-entry spacecraft ☆ , 2003 .

[3]  Petar V. Kokotovic,et al.  Systematic design of adaptive controllers for feedback linearizable systems , 1991 .

[4]  Kelly Cohen,et al.  Fuzzy Logic Non-Minimum Phase Autopilot Design , 2003 .

[5]  Dimiter Driankov,et al.  A fuzzy flight controller combining linguistic and model-based fuzzy control , 2004, Fuzzy Sets Syst..

[6]  R. Walker,et al.  Nonlinear flight test trajectory controllers for aircraft , 1987 .

[7]  Dale F. Enns,et al.  Nonlinear control law with application to high angle-of-attack flight , 1992 .

[8]  Tzuu-Hseng S. Li,et al.  Design of a GA-based fuzzy PID controller for non-minimum phase systems , 2000, Fuzzy Sets Syst..

[9]  Itzhak Barkana,et al.  Classical and Simple Adaptive Control for Nonminimum Phase Autopilot Design , 2005 .

[10]  Abdelhamid Tayebi,et al.  Attitude stabilization of a VTOL quadrotor aircraft , 2006, IEEE Transactions on Control Systems Technology.

[11]  Li-Xin Wang,et al.  A Course In Fuzzy Systems and Control , 1996 .

[12]  Karolin Baecker,et al.  Basic And Advanced Regulatory Control System Design And Application , 2016 .

[13]  I. Kanellakopoulos,et al.  Systematic Design of Adaptive Controllers for Feedback Linearizable Systems , 1991, 1991 American Control Conference.

[14]  Irv Blickstein,et al.  Recent Large Service Acquisitions in the Department of Defense: Lessons for the Office of the Secretary of Defense , 2004 .

[15]  V. Rajinikanth,et al.  Tuning and Retuning of PID Controller for Unstable Systems Using Evolutionary Algorithm , 2012 .

[16]  Antonio Visioli,et al.  Practical PID Control , 2006 .

[17]  Min-Jea Tahk,et al.  Applications of plant inversion via state feedback to missile autopilot design , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[18]  Kelly Cohen,et al.  PID and Fuzzy Logic Pitch Attitude Hold Systems for a Fighter Jet , 2002 .

[19]  Tammaso Bresciani,et al.  Modelling, Identification and Control of a Quadrotor Helicopter , 2008 .