IDEAS home Printed from https://ideas.repec.org/a/gam/jmathe/v11y2023i15p3390-d1209628.html
   My bibliography  Save this article

Model-Based Optimization Approach for PID Control of Pitch–Roll UAV Orientation

Author

Listed:
  • Orlando Arrieta

    (Instituto de Investigaciones en Ingeniería, Facultad de Ingeniería, Universidad de Costa Rica, San José 11501-2060, Costa Rica
    Departament de Telecomunicació i d’Enginyeria de Sistemes, Escola d’Enginyeria, Universitat Autònoma de Barcelona, Bellaterra, 08193 Barcelona, Spain)

  • Daniel Campos

    (Instituto de Investigaciones en Ingeniería, Facultad de Ingeniería, Universidad de Costa Rica, San José 11501-2060, Costa Rica)

  • Javier Rico-Azagra

    (Control Engineering Research Group, Electrical Engineering Department, University of La Rioja, 26004 Logroño, Spain)

  • Montserrat Gil-Martínez

    (Control Engineering Research Group, Electrical Engineering Department, University of La Rioja, 26004 Logroño, Spain)

  • José D. Rojas

    (Instituto de Investigaciones en Ingeniería, Facultad de Ingeniería, Universidad de Costa Rica, San José 11501-2060, Costa Rica
    Departament de Telecomunicació i d’Enginyeria de Sistemes, Escola d’Enginyeria, Universitat Autònoma de Barcelona, Bellaterra, 08193 Barcelona, Spain)

  • Ramon Vilanova

    (Departament de Telecomunicació i d’Enginyeria de Sistemes, Escola d’Enginyeria, Universitat Autònoma de Barcelona, Bellaterra, 08193 Barcelona, Spain)

Abstract

This study focuses on the modeling and control optimization of the pitch–roll angles orientation in a quad-rotor UAV (unmanned aerial vehicle) drone system. To address the control challenge, PID (proportional–integral–derivative) controllers are used, which have been tuned through a model-based optimization approach. A non-linear model of the system is obtained and further validated experimentally. The model is implemented in Simulink to conduct model-based optimization. The controller design uses an IMC (internal model control) model-based approach to establish the initial parameters for a PID controller. In the subsequent design phase, a multiobjective approach is taken, incorporating weighted cost functions that account for IAE (integral absolute error) and ITAE (integral of time-weighted absolute error) forms, along with battery usage. The outcomes of this design are showcased through simulations and real-world platform testing.

Suggested Citation

  • Orlando Arrieta & Daniel Campos & Javier Rico-Azagra & Montserrat Gil-Martínez & José D. Rojas & Ramon Vilanova, 2023. "Model-Based Optimization Approach for PID Control of Pitch–Roll UAV Orientation," Mathematics, MDPI, vol. 11(15), pages 1-17, August.
  • Handle: RePEc:gam:jmathe:v:11:y:2023:i:15:p:3390-:d:1209628
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/2227-7390/11/15/3390/pdf
    Download Restriction: no

    File URL: https://www.mdpi.com/2227-7390/11/15/3390/
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Xiaodong Zhang & Xiaoli Li & Kang Wang & Yanjun Lu, 2014. "A Survey of Modelling and Identification of Quadrotor Robot," Abstract and Applied Analysis, Hindawi, vol. 2014, pages 1-16, October.
    Full references (including those not matched with items on IDEAS)

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Patricio Borbolla-Burillo & David Sotelo & Michael Frye & Luis E. Garza-Castañón & Luis Juárez-Moreno & Carlos Sotelo, 2024. "Design and Real-Time Implementation of a Cascaded Model Predictive Control Architecture for Unmanned Aerial Vehicles," Mathematics, MDPI, vol. 12(5), pages 1-20, February.
    2. Tukia, Toni & Uimonen, Semen & Siikonen, Marja-Liisa & Donghi, Claudio & Lehtonen, Matti, 2019. "Modeling the aggregated power consumption of elevators – the New York city case study," Applied Energy, Elsevier, vol. 251(C), pages 1-1.
    3. Rabab Benotsmane & József Vásárhelyi, 2022. "Towards Optimization of Energy Consumption of Tello Quad-Rotor with Mpc Model Implementation," Energies, MDPI, vol. 15(23), pages 1-25, December.
    4. Gorgan, Maxim & Hartvigsen, Morten, 2022. "Development of agricultural land markets in countries in Eastern Europe and Central Asia," Land Use Policy, Elsevier, vol. 120(C).

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jmathe:v:11:y:2023:i:15:p:3390-:d:1209628. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.