PID vs. Backstepping Control for Cooperative Quadrotors Unmanned Aerial Vehicles
Mahfouz, M., Taiomour, A., Ashry, M., Elnashar, G. (2019). PID vs. Backstepping Control for Cooperative Quadrotors Unmanned Aerial Vehicles. EKB Journal Management System, 18(18), 1-23. doi: 10.1088/1757-899X/610/1/012057
M. Mahfouz; A. Taiomour; Mahmoud M. Ashry; G. Elnashar. "PID vs. Backstepping Control for Cooperative Quadrotors Unmanned Aerial Vehicles". EKB Journal Management System, 18, 18, 2019, 1-23. doi: 10.1088/1757-899X/610/1/012057
Mahfouz, M., Taiomour, A., Ashry, M., Elnashar, G. (2019). 'PID vs. Backstepping Control for Cooperative Quadrotors Unmanned Aerial Vehicles', EKB Journal Management System, 18(18), pp. 1-23. doi: 10.1088/1757-899X/610/1/012057
Mahfouz, M., Taiomour, A., Ashry, M., Elnashar, G. PID vs. Backstepping Control for Cooperative Quadrotors Unmanned Aerial Vehicles. EKB Journal Management System, 2019; 18(18): 1-23. doi: 10.1088/1757-899X/610/1/012057

PID vs. Backstepping Control for Cooperative Quadrotors Unmanned Aerial Vehicles

International Conference on Aerospace Sciences and Aviation Technology
Article 59, Volume 18, Issue 18, April 2019, Page 1-23  XML PDF (1.33 MB)
Document Type: Original Article
DOI: 10.1088/1757-899X/610/1/012057
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Authors
M. Mahfouz1; A. Taiomour2; Mahmoud M. Ashry1; G. Elnashar3
1Department of Optoelectronics and Control, Military Technical College, Cairo, Egypt.
2Aircraft Armament Department, Military Technical College, Cairo, Egypt.
3Commandant of MTC, Cairo, Egypt.
Abstract
Formation reconfiguration is one of the most important tactics used in the field of cooperative Unmanned Air Vehicles. In this paper, formation reconfiguration for a team of vertical takeoff and landing quadrotors is managed by a classical approach of proportional-integral-derivative (PID) controller. PID controller is designed to regulate the attitude and the altitude for every quadrotor of a cooperative team respecting the separating span and velocity constraints. PID controller results are compared with a backstepping controller developed for the same system. The mathematical model of the propositioned system is derived initially, and then a PID controller using simplex and genetic algorithms is designed qualifying the cooperative quadrotors to track the desired trajectories. Simulation results present the assessment of PID control strategy along with backstepping control strategy in different scenarios including proposal flight mission in obstacle-free surroundings, and obstacle-laden surroundings. Noise attenuation and disturbance rejection are examined for both controllers to check the robustness of the system.
Keywords
Quadrotor; Unmanned Air Vehicles; PID; Backstepping
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