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Adaptive PID control via sliding mode for position tracking of quadrotor MAV: Simulation and real-time experiment evaluation

The lightweight nature of micro air vehicles (MAVs) makes them highly sensitive to perturbations, thus emphasizing the need for effective control strategies that can sustain attitude stability throughout translational movement. This study evaluates the performance of two controllers (Proportional-In...

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Main Authors: Mohd Basri, Mohd Ariffanan, Noordin, Aminurrashid, Mohamed, Zaharuddin
Format: Article
Language:English
Published: MDPI 2023
Online Access:http://eprints.utem.edu.my/id/eprint/27554/2/0108430052023153.PDF
http://eprints.utem.edu.my/id/eprint/27554/
https://www.mdpi.com/2226-4310/10/6/512
https://doi.org/10.3390/aerospace10060512
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spelling my.utem.eprints.275542024-07-04T11:48:47Z http://eprints.utem.edu.my/id/eprint/27554/ Adaptive PID control via sliding mode for position tracking of quadrotor MAV: Simulation and real-time experiment evaluation Mohd Basri, Mohd Ariffanan Noordin, Aminurrashid Mohamed, Zaharuddin The lightweight nature of micro air vehicles (MAVs) makes them highly sensitive to perturbations, thus emphasizing the need for effective control strategies that can sustain attitude stability throughout translational movement. This study evaluates the performance of two controllers (Proportional-Integral-Derivative (PID) and Adaptive PID based on Sliding Mode Control (SMC)) on a MAV that is subjected to external disturbances. These controllers are initially simulated using MATLAB®/Simulink™ and then implemented in real-time on the Parrot Mambo Minidrone. The observation on the waypoint follower and the orbit follower in both simulation and experiment showed that the Adaptive PID (APID) controller is more effective and robust than the PID controller against external disturbances such as wind gusts. The study provides evidence of the potential of the APID control scheme in enhancing the resilience and stability of MAVs, making them suitable for various applications including surveillance, search and rescue, and environmental monitoring. MDPI 2023-05 Article PeerReviewed text en http://eprints.utem.edu.my/id/eprint/27554/2/0108430052023153.PDF Mohd Basri, Mohd Ariffanan and Noordin, Aminurrashid and Mohamed, Zaharuddin (2023) Adaptive PID control via sliding mode for position tracking of quadrotor MAV: Simulation and real-time experiment evaluation. Aerospace, 10 (6). pp. 1-25. ISSN 2226-4310 https://www.mdpi.com/2226-4310/10/6/512 https://doi.org/10.3390/aerospace10060512
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
description The lightweight nature of micro air vehicles (MAVs) makes them highly sensitive to perturbations, thus emphasizing the need for effective control strategies that can sustain attitude stability throughout translational movement. This study evaluates the performance of two controllers (Proportional-Integral-Derivative (PID) and Adaptive PID based on Sliding Mode Control (SMC)) on a MAV that is subjected to external disturbances. These controllers are initially simulated using MATLAB®/Simulink™ and then implemented in real-time on the Parrot Mambo Minidrone. The observation on the waypoint follower and the orbit follower in both simulation and experiment showed that the Adaptive PID (APID) controller is more effective and robust than the PID controller against external disturbances such as wind gusts. The study provides evidence of the potential of the APID control scheme in enhancing the resilience and stability of MAVs, making them suitable for various applications including surveillance, search and rescue, and environmental monitoring.
format Article
author Mohd Basri, Mohd Ariffanan
Noordin, Aminurrashid
Mohamed, Zaharuddin
spellingShingle Mohd Basri, Mohd Ariffanan
Noordin, Aminurrashid
Mohamed, Zaharuddin
Adaptive PID control via sliding mode for position tracking of quadrotor MAV: Simulation and real-time experiment evaluation
author_facet Mohd Basri, Mohd Ariffanan
Noordin, Aminurrashid
Mohamed, Zaharuddin
author_sort Mohd Basri, Mohd Ariffanan
title Adaptive PID control via sliding mode for position tracking of quadrotor MAV: Simulation and real-time experiment evaluation
title_short Adaptive PID control via sliding mode for position tracking of quadrotor MAV: Simulation and real-time experiment evaluation
title_full Adaptive PID control via sliding mode for position tracking of quadrotor MAV: Simulation and real-time experiment evaluation
title_fullStr Adaptive PID control via sliding mode for position tracking of quadrotor MAV: Simulation and real-time experiment evaluation
title_full_unstemmed Adaptive PID control via sliding mode for position tracking of quadrotor MAV: Simulation and real-time experiment evaluation
title_sort adaptive pid control via sliding mode for position tracking of quadrotor mav: simulation and real-time experiment evaluation
publisher MDPI
publishDate 2023
url http://eprints.utem.edu.my/id/eprint/27554/2/0108430052023153.PDF
http://eprints.utem.edu.my/id/eprint/27554/
https://www.mdpi.com/2226-4310/10/6/512
https://doi.org/10.3390/aerospace10060512
_version_ 1804070319533588480
score 13.223943

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