Anti-windup and multi-mode PID control of yaw movement for a quad-rotor UAV

	Anti-windup and multi-mode PID control of yaw movement for a quad-rotor UAV
	Peng, C.; Y. Bai; G. Qiao; X. Gong and Y. Tian
	2015
发表期刊	Jiqiren/Robot
卷号	37 期号:4 页码:415-423
摘要	The actuator saturation tends to occur in the yaw movement of a quad-rotor UAV (unmanned air vehicle), especially in the presence of disturbances, which results from the fact that yaw movement is much weaker than pitch movement and roll movement. In order to address this problem, a multi-mode proportional-intergral-differential (MMPID) anti-windup controller is proposed from the view point of practical engineering, to prevent actuator saturation in the yaw movement, and the favorable yaw control performance can be guaranteed in the case of external disturbances. Firstly, MMPID method as yaw controller is designed based on the dynamic model of the quad-rotor. MMPID controller has multi-mode characteristic and carries out desaturation strategy under certain conditions. Then, the yaw control system based on MMPID method is proved to be stable using Lyapunov theory. Finally, comparative experiments based on quad-rotor simulation show that MMPID method has significant advantages than variable-structure PID method with respect to the anti-windup performance and yaw control performance. In additon, the validity and robustness of MMPID yaw controller are verified via quad-rotor prototype experiments. Experimental results indicate that the yaw control system based on MMPID method has nearly no saturation with yaw angle error limited to 0:05 rad indoors without disturbances. It spends 10 s to exit saturation with yaw angle error limited to 0:08 rad indoors with disturbances. It spends 5 s to exit saturation with yaw angle error limited to 0:13 rad outdoors. MMPID controller can effectively prevent actuator saturation in the yaw movement with accurate yaw control and strong robustness for a quad-rotor UAV. , 2015, Chinese Academy of Sciences. All right reserved.
文章类型	期刊论文
收录类别	EI
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/56336
专题	中科院长春光机所知识产出
推荐引用方式 GB/T 7714	Peng, C.,Y. Bai,G. Qiao,et al. Anti-windup and multi-mode PID control of yaw movement for a quad-rotor UAV[J]. Jiqiren/Robot,2015,37(4):415-423.
APA	Peng, C.,Y. Bai,G. Qiao,&X. Gong and Y. Tian.(2015).Anti-windup and multi-mode PID control of yaw movement for a quad-rotor UAV.Jiqiren/Robot,37(4),415-423.
MLA	Peng, C.,et al."Anti-windup and multi-mode PID control of yaw movement for a quad-rotor UAV".Jiqiren/Robot 37.4(2015):415-423.

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