Optimized PID Control of Quadrotor System Using Extremum Seeking Algorithm | ||
| Engineering and Technology Journal | ||
| Article 12, Volume 39, Issue 6, June 2021, Pages 996-1010 PDF (1.18 M) | ||
| Document Type: Research Paper | ||
| DOI: 10.30684/etj.v39i6.1850 | ||
| Authors | ||
| Abdullah N. Muhsen* ; Safanah M. Raafat | ||
| Control and System Eng. Dept., University of Technology - Iraq | ||
| Abstract | ||
| This paper presents the development of an automatic tuning of conventional PI-D controllers for Quadrotor system. The most critical problem of tuning the parameters of the PID, is that they can drastically affect the performance of the system. Accordingly, Extremum seeking (ES) algorithm is utilized here to reduce a selected cost function that brings the required performance aspects. The results show that the ES-PID controller provides better stability and performance as compared with only PI-D controller. The parameters of ES-PID controller have been successfully tuned and modified to reach the desired destination with significantly less overshoot, oscillations, and faster convergence. | ||
| Keywords | ||
| Quadrotor Controller; PI-D; Automatic Tuning PID; extremum seeking; ES | ||
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