AN ADAPTIVE CONTROL SYSTEM BASED ON PID, I2PD AND RLS, A SIMULATED DESIGN FOR UAVS
During this master thesis an adaptive control system for angular velocity was developed. The approach focuses on radio controlled quadrotors and thereby targets a computational efficient solution. The adaptation is divided into two steps. First, an Integral Squared Plus Time Delay (I2PD) model estimat...
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Mälardalens högskola, Akademin för innovation, design och teknik
2017
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ndltd-UPSALLA1-oai-DiVA.org-mdh-356142017-06-20T05:28:42ZAN ADAPTIVE CONTROL SYSTEM BASED ON PID, I2PD AND RLS, A SIMULATED DESIGN FOR UAVSengGärtner, JohanJohansson, PhilipMälardalens högskola, Akademin för innovation, design och teknikMälardalens högskola, Akademin för innovation, design och teknik2017RLSPID ControllerUAVquadrotoradaptive controlI2PDsimulationControl EngineeringReglerteknikDuring this master thesis an adaptive control system for angular velocity was developed. The approach focuses on radio controlled quadrotors and thereby targets a computational efficient solution. The adaptation is divided into two steps. First, an Integral Squared Plus Time Delay (I2PD) model estimation is done through the Recursive Least Squares (RLS) algorithm. Second, control parameters for the quadrotors Proportional Integral Derivative (PID) controller are found by using empirically modified Tuning Rules (TRs) which are based on the I2PD model. Simulation results show the benefits of an adaptive tuning algorithm in regards of the time consuming process of manually tuning a PID controller as well as robustness against both predictable and unpredictable system changes. This includes actuator degradation, battery consumption, changes in weight or inertia etc. However, it is apparent that the tuning algorithm demands an arbitrary initial approximation to be stable at initialization. Student thesisinfo:eu-repo/semantics/bachelorThesistexthttp://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-35614application/pdfinfo:eu-repo/semantics/openAccess |
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English |
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RLS PID Controller UAV quadrotor adaptive control I2PD simulation Control Engineering Reglerteknik |
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RLS PID Controller UAV quadrotor adaptive control I2PD simulation Control Engineering Reglerteknik Gärtner, Johan Johansson, Philip AN ADAPTIVE CONTROL SYSTEM BASED ON PID, I2PD AND RLS, A SIMULATED DESIGN FOR UAVS |
description |
During this master thesis an adaptive control system for angular velocity was developed. The approach focuses on radio controlled quadrotors and thereby targets a computational efficient solution. The adaptation is divided into two steps. First, an Integral Squared Plus Time Delay (I2PD) model estimation is done through the Recursive Least Squares (RLS) algorithm. Second, control parameters for the quadrotors Proportional Integral Derivative (PID) controller are found by using empirically modified Tuning Rules (TRs) which are based on the I2PD model. Simulation results show the benefits of an adaptive tuning algorithm in regards of the time consuming process of manually tuning a PID controller as well as robustness against both predictable and unpredictable system changes. This includes actuator degradation, battery consumption, changes in weight or inertia etc. However, it is apparent that the tuning algorithm demands an arbitrary initial approximation to be stable at initialization. |
author |
Gärtner, Johan Johansson, Philip |
author_facet |
Gärtner, Johan Johansson, Philip |
author_sort |
Gärtner, Johan |
title |
AN ADAPTIVE CONTROL SYSTEM BASED ON PID, I2PD AND RLS, A SIMULATED DESIGN FOR UAVS |
title_short |
AN ADAPTIVE CONTROL SYSTEM BASED ON PID, I2PD AND RLS, A SIMULATED DESIGN FOR UAVS |
title_full |
AN ADAPTIVE CONTROL SYSTEM BASED ON PID, I2PD AND RLS, A SIMULATED DESIGN FOR UAVS |
title_fullStr |
AN ADAPTIVE CONTROL SYSTEM BASED ON PID, I2PD AND RLS, A SIMULATED DESIGN FOR UAVS |
title_full_unstemmed |
AN ADAPTIVE CONTROL SYSTEM BASED ON PID, I2PD AND RLS, A SIMULATED DESIGN FOR UAVS |
title_sort |
adaptive control system based on pid, i2pd and rls, a simulated design for uavs |
publisher |
Mälardalens högskola, Akademin för innovation, design och teknik |
publishDate |
2017 |
url |
http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-35614 |
work_keys_str_mv |
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_version_ |
1718460558786691072 |