This paper presents a self-tuning method of PID controllers based on the theory of adaptive interaction for the quadrotor system which is a kind of unmanned aerial vehicle (UAV) platforms. In many experiments, PID coefficients are set empirically. In this paper, the self-tuning algorithm for PID controllers requires no knowledge of the plant to be controlled. The algorithm manages to tune PID gains by minimizing an error function. Simulation results show that the presented PID controllers under self-tuning are able to stabilize quadrotor and keep quadrotor performance.
Self-tuning of PID controllers design by adaptive interaction for quadrotor UAV
01.08.2016
322714 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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