Quadrotor tuning for attitude control based on PID controller using fictitious reference iterative tuning (FRIT)

Name: Arthit Julkananusart

keyword: Quadrotor

; Proportional integral derivative (PID)

; Direct tuning method

; Fictitious reference iterative tuning (FRIT)

Abstract: This study proposes a method for quadrotor tuning focusing on attitude control (roll, pitch, and yaw channel). The controller is based upon a PID-based algorithm (single- and double-loop structure) that is widely used in many flight controller boards. However, it is not easy to tune the parameters of a PID controller such that it satisfies the desired transient response, especially using manual tuning. Thus, this paper proposes a method for quadrotor tuning with both single- and double-loop PIDbased structure by using fictitious reference iterative tuning (FRIT) for attitude control. The proposed method is applied to tune the gains by using FRIT so that the attitude response of a quadrotor matches with the desired response for each channel by using only one-shot experimental input-output data. Implementation results are provided to show the effectiveness of the proposed method

Thammasat University. Thammasat University Library

Address: BANGKOK

Email: preserv@tu.ac.th

Name: Itthisek Nilkhamhang

Role: advisor

Name: Waree Kongprawechnon

Role: co-advisor

Created: 2016

Modified: 2021-06-23

Issued: 2021-06-23

วิทยานิพนธ์/Thesis

application/pdf

DOI: 10.14457/TU.the.2016.1769

eng

DegreeName: Master of Engineering

Level: Master's Degree

Descipline: Information and Communication Technology for Embedded Systems

Grantor: Thammasat University

©copyrights Thammasat University

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