Self-tuning of PID controllers design by adaptive interaction for quadrotor UAV

机译：通过Quadrotor UAV的自适应交互自我调整PID控制器设计

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摘要

This paper presents a self-tuning method of PID controllers based on the theory of adaptive interaction for the quadrotor system which is a kind of unmanned aerial vehicle (UAV) platforms. In many experiments, PID coefficients are set empirically. In this paper, the self-tuning algorithm for PID controllers requires no knowledge of the plant to be controlled. The algorithm manages to tune PID gains by minimizing an error function. Simulation results show that the presented PID controllers under self-tuning are able to stabilize quadrotor and keep quadrotor performance.

机译：本文介绍了PID控制器的自调整方法，基于四电位系统的自适应交互理论，这是一种无人驾驶飞行器（UAV）平台。在许多实验中，PID系数凭经验设置。在本文中，PID控制器的自调谐算法不需要控制植物的知识。该算法通过最小化错误功能来管理来调谐PID增益。仿真结果表明，呈现的PID控制器在自调整下能够稳定四轮电机并保持四轮压力机性能。

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《IEEE Chinese Guidance, Navigation and Control Conference》|2016年|1 v.|共6页
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Shuai An; Suozhong Yuan; Huadong Li;
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正文语种
中图分类飞行控制系统与导航;
关键词
Rotors; Heuristic algorithms; Adaptive systems; Mathematical model; Tuning; Algorithm design and analysis; Propellers;

机译：转子;启发式算法;自适应系统;数学模型;调整;算法设计和分析;螺旋桨;

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1. Wind disturbance rejection control based on the dynamic parameters estimation of quadrotors UAV [J] . Yang Yanhua, Chen Yang 高技术通讯（英文版） . 2019,第004期
2. Fuzzy Self-adaptive Proportional Integration Differential Control for Attitude Stabilization of Quadrotor UAV [J] . FAN Yun-sheng, CAO Ya-bo, GUO Chen, 东华大学学报（英文版） . 2016,第005期
3. Adaptive Second-Order Strictly Negative Imaginary Controllers Based on the Interval Type-2 Fuzzy Self-Tuning Systems for a Hovering Quadrotor With Uncertainties [J] . IEEE / ASME Transactions on Mechatronics . 2020,第1期

机译：不确定的基于区间2型模糊自校正系统的自适应二阶严格负虚部控制器
4. Adaptive Second-Order Strictly Negative Imaginary Controllers Based on the Interval Type-2 Fuzzy Self-Tuning Systems for a Hovering Quadrotor With Uncertainties [J] . Zeitschrift fur Arznei- und Gewurzpflanzen . 2020,第1期

机译：基于间隔Type-2模糊自调谐系统的自适应二阶严格的假想控制器，用于悬停四轮压发电机的不确定性
5. Fuzzy adaptive fault-tolerant controller design based on Nussbaum for nonlinear quadrotor UAV system with input saturation [J] . Chaofang Hu, Zelong Zhang, Xianpeng Zhou, International journal of system control and information processing . 2019,第1期

机译：基于NUSSBAUM的非线性四轮压发电机UAV系统的模糊自适应容错控制器设计
6. Self-tuning of PID controllers design by adaptive interaction for quadrotor UAV [C] . Shuai An, Suozhong Yuan, Huadong Li IEEE Chinese Guidance, Navigation and Control Conference . 2016

机译：基于自适应交互的四旋翼无人机PID控制器自整定
7. Design of PID Controller with Adaptive Feedforward Gain in Residential Air Conditioning System to Improve Performance [D] . Khan, Sayeed Mohammed. 2017

机译：自适应空调前馈增益PID控制器设计以提高性能
8. Novel Fuzzy PID-Type Iterative Learning Control for Quadrotor UAV [O] . Jian Dong, Bin He 2019

机译：四旋翼无人机的新型模糊PID型迭代学习控制
9. Flight controller design, automatic tuning and performance evaluation of quadrotor UAVs [O] . Chen X 2016

机译：四旋翼无人机的飞行控制器设计，自动调谐和性能评估

Self-tuning of PID controllers design by adaptive interaction for quadrotor UAV

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