April 2020
Intermediate
368 pages
12h 45m
English
Content preview from PID Control System Design and Automatic Tuning using MATLAB/Simulink
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10PID Control of Multi-rotor Unmanned Aerial Vehicles
10.1 Introduction
This chapter will present the PID control of multi-rotor unmanned aerial vehicles as case studies. Because of nonlinearities and physical parameter uncertainties, the attitude control systems for an unmanned aerial vehicle are proposed to be PID control systems in a cascade structure and the PID controller parameters are found using the auto-tuners designed in Chapter 9. The auto-tuners are implemented on laboratory test rigs specifically designed for multi-rotor unmanned aerial vehicles and operated on the ground for the safety of the equipment. Experiments are conducted to evaluate the attitude control systems.
10.2 Multi-rotor Dynamics
This section will discuss the dynamics of a quadrotor and a hexacopter for the PID control system design. We will pay attention to their shared common features and their differences.
To ensure stable flight of a multi-rotor unmanned aerial vehicle (UAV), its attitude is required to be under feedback control. The attitude of a multi-rotor is captured by the variations of the three Euler angles: roll angle 
, pitch angle 
and yaw angle 
. More specifically, the roll angle defines ...
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