Position control of quadrotor by embedded PID control with hardware in loop simulation

Quadrotor is a MIMO non-linear system with complex dynamics. It is an open loop unstable system and it requires an efficient control scheme for a stable flight. This paper presents a discrete PID control scheme, which is able to move quadrotor to any point in 3-dimensional space. This paper also presents the implementation of this control scheme on programmable system-on-chip (PSOC) device and tests this controller hardware on quadrotor mathematical model with hardware-in-loop simulation. Simulation results have shown the effectiveness of control scheme and successful implementation on PSOC device.

[1]  Hamid Saeed Khan,et al.  DC motor speed control by embedded PI controller with hardware-in-loop simulation , 2013, 2013 3rd IEEE International Conference on Computer, Control and Communication (IC4).

[2]  Rolf Isermann,et al.  Hardware-in-the-loop simulation for the design and testing of engine-control systems , 1998 .

[3]  C. Dufour,et al.  Real-time HIL simulation of a complete PMSM drive at 10 /spl mu/s time step , 2005, 2005 European Conference on Power Electronics and Applications.

[4]  Gene F. Franklin,et al.  Digital control of dynamic systems , 1980 .

[5]  Piotr Wozniak,et al.  Preferences in multi-objective evolutionary optimisation of electric motor speed control with hardware in the loop , 2011, Appl. Soft Comput..

[6]  Tarek Tutunji,et al.  Hardware-In-the-Loop for on-line identification and control of three-phase squirrel cage induction motors , 2010, Simul. Model. Pract. Theory.

[7]  Peter J. Fleming,et al.  Design of robust fuzzy-logic control systems by multi-objective evolutionary methods with hardware in the loop , 2004, Eng. Appl. Artif. Intell..

[8]  Piotr Woniak,et al.  Preferences in multi-objective evolutionary optimisation of electric motor speed control with hardware in the loop , 2011 .

[9]  Mehmet Önder Efe,et al.  Neural Network Assisted Computationally Simple PI$^\lambda$D$^\mu$ Control of a Quadrotor UAV , 2011, IEEE Transactions on Industrial Informatics.

[10]  Clemens Schlegel,et al.  HIL-Simulation of the Hydraulics and Mechanics of an Automatic Gearbox , 2002 .