A robust adaptive PID-like controller for quadrotor unmanned aerial vehicle systems

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dc.contributor.authorBoubakir, Ahsene
dc.contributor.authorSouanef, Toufik
dc.contributor.authorLabiod, Salim
dc.contributor.authorWhidborne, James F.
dc.date.accessioned2024-12-13T14:58:35Z
dc.date.available2024-12-13T14:58:35Z
dc.date.freetoread2024-12-13
dc.date.issued2024-11-27
dc.date.pubOnline2024-11-27
dc.description.abstractThis paper introduces a stable adaptive PID-like control scheme for quadrotor Unmanned Aerial Vehicle (UAV) systems. The PID-like controller is designed to closely estimate an ideal controller to meet specific control objectives, with its gains being dynamically adjusted through a stable adaptation process. The adaptation process aims to reduce the discrepancy between the ideal controller and the PID-like controller in use. This method is considered model-free, as it does not require knowledge of the system’s mathematical model. The stability analysis performed using a Lyapunov method demonstrates that every signal in the closed-loop system is Uniformly Ultimately Bounded (UUB). The effectiveness of the proposed PID-like controller is validated through simulations on a quadrotor for path following, ensuring accurate monitoring of the target positions and yaw angle. Simulation results highlight the performance of this control scheme.
dc.description.journalNameAerospace
dc.identifier.citationBoubakir A, Souanef T, Labiod S, Whidborne JF. (2024) A robust adaptive PID-like controller for quadrotor unmanned aerial vehicle systems. Aerospace, Volume 11, Issue 12, November 2024, Article number 980
dc.identifier.eissn2226-4310
dc.identifier.elementsID560128
dc.identifier.issn2226-4310
dc.identifier.issueNo12
dc.identifier.urihttps://doi.org/10.3390/aerospace11120980
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/23271
dc.identifier.volumeNo11
dc.languageEnglish
dc.language.isoen
dc.publisherMDPI
dc.publisher.urihttps://www.mdpi.com/2226-4310/11/12/980
dc.rightsAttribution 4.0 Internationalen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subject4007 Control Engineering, Mechatronics and Robotics
dc.subject40 Engineering
dc.subject4010 Engineering Practice and Education
dc.subject4001 Aerospace engineering
dc.titleA robust adaptive PID-like controller for quadrotor unmanned aerial vehicle systems
dc.typeArticle
dcterms.dateAccepted2024-11-25

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