Designing of self tuning PID controller for AR drone quadrotor

V. Madhu Babu, Kaushik Das, Swagat Kumar

Research output: Chapter in Book/Report/Conference proceedingChapter

4 Citations (Scopus)

Abstract

— In this paper, a gradient decent based methodology is employed to tune the Proportional-Integral-Derivative (PID) controller parameters for AR Drone quadrotor. The three PID controller parameters, proportional gain (K p), integral gain (K i) and derivative gain (K d) are tuned online while flying. The proposed technique has been demonstrated through two test cases. One is the way-point navigation and other is the leader-follower formation control. The experimental result as well as simulations result have shown for both the cases.
Original languageEnglish
Title of host publication2017 18th International Conference on Advanced Robotics, ICAR 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages167-172
Number of pages6
ISBN (Print)9781538631577
DOIs
Publication statusPublished - 30 Aug 2017
Event18th International Conference on Advanced Robotics, ICAR - Hong King, China
Duration: 10 Jul 201712 Jul 2017

Publication series

Name2017 18th International Conference on Advanced Robotics, ICAR 2017

Conference

Conference18th International Conference on Advanced Robotics, ICAR
CountryChina
CityHong King
Period10/07/1712/07/17

Fingerprint

Tuning
Derivatives
Controllers
Navigation
Drones

Keywords

  • AR. Drone
  • Autotuning PID
  • Leader-follower formation control
  • Way Point Navigation

Cite this

Babu, V. M., Das, K., & Kumar, S. (2017). Designing of self tuning PID controller for AR drone quadrotor. In 2017 18th International Conference on Advanced Robotics, ICAR 2017 (pp. 167-172). (2017 18th International Conference on Advanced Robotics, ICAR 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICAR.2017.8023513
Babu, V. Madhu ; Das, Kaushik ; Kumar, Swagat. / Designing of self tuning PID controller for AR drone quadrotor. 2017 18th International Conference on Advanced Robotics, ICAR 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 167-172 (2017 18th International Conference on Advanced Robotics, ICAR 2017).
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abstract = "— In this paper, a gradient decent based methodology is employed to tune the Proportional-Integral-Derivative (PID) controller parameters for AR Drone quadrotor. The three PID controller parameters, proportional gain (K p), integral gain (K i) and derivative gain (K d) are tuned online while flying. The proposed technique has been demonstrated through two test cases. One is the way-point navigation and other is the leader-follower formation control. The experimental result as well as simulations result have shown for both the cases.",
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Babu, VM, Das, K & Kumar, S 2017, Designing of self tuning PID controller for AR drone quadrotor. in 2017 18th International Conference on Advanced Robotics, ICAR 2017. 2017 18th International Conference on Advanced Robotics, ICAR 2017, Institute of Electrical and Electronics Engineers Inc., pp. 167-172, 18th International Conference on Advanced Robotics, ICAR , Hong King, China, 10/07/17. https://doi.org/10.1109/ICAR.2017.8023513

Designing of self tuning PID controller for AR drone quadrotor. / Babu, V. Madhu; Das, Kaushik; Kumar, Swagat.

2017 18th International Conference on Advanced Robotics, ICAR 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 167-172 (2017 18th International Conference on Advanced Robotics, ICAR 2017).

Research output: Chapter in Book/Report/Conference proceedingChapter

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N2 - — In this paper, a gradient decent based methodology is employed to tune the Proportional-Integral-Derivative (PID) controller parameters for AR Drone quadrotor. The three PID controller parameters, proportional gain (K p), integral gain (K i) and derivative gain (K d) are tuned online while flying. The proposed technique has been demonstrated through two test cases. One is the way-point navigation and other is the leader-follower formation control. The experimental result as well as simulations result have shown for both the cases.

AB - — In this paper, a gradient decent based methodology is employed to tune the Proportional-Integral-Derivative (PID) controller parameters for AR Drone quadrotor. The three PID controller parameters, proportional gain (K p), integral gain (K i) and derivative gain (K d) are tuned online while flying. The proposed technique has been demonstrated through two test cases. One is the way-point navigation and other is the leader-follower formation control. The experimental result as well as simulations result have shown for both the cases.

KW - AR. Drone

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Babu VM, Das K, Kumar S. Designing of self tuning PID controller for AR drone quadrotor. In 2017 18th International Conference on Advanced Robotics, ICAR 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 167-172. (2017 18th International Conference on Advanced Robotics, ICAR 2017). https://doi.org/10.1109/ICAR.2017.8023513