Robust Active Force Control of A Quadcopter
Keywords:
Quadcopter, PID AFC scheme, robust, altitude and yaw control, disturbancesAbstract
Outdoor quadrotor helicopter quadcopter operation needs a robust control system in controlling its attitude and altitude to cater for various unmodeled disturbances and uncertainties. Although many control techniques have been tested and applied in quadrotor control systems, the active force control (AFC) scheme has yet to be implemented and investigated. The AFC strategy works via the appropriate manipulation of specific parameters of interest, namely, the estimated mass moment of inertia, measured torque and measured acceleration produced by the system. In this paper, a proportional-integral-derivative (PID) with AFC (PID+AFC) strategy was successfully implemented in altitude (Z-axis) and yaw control of a quadcopter system via simulation. The PID+AFC controller performance was benchmarked with the conventional PID control considering different operation flight paths subject to various forms of disturbances. Simulation results showed that the PID+AFC scheme has significantly improved the altitude control where the steady state error can be reduced up to 70%, particularly with the presence of Z-axis disturbance. The proposed scheme also reacts faster and maintains the quadcopter hovering stability state condition. A slight improvement in yaw control with the application of PID+AFC approach was also observed in comparison to the PID only control.References
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