Development of An Improved Controller for Enhancing the Performance of Unmanned Aerial Vehicle

• Author(s): Oguanya Kenneth I ; Eneh Innocent I ; Ene Princewill Chigozie
• Paper ID: 1704145
• Page: 200-206
• Published Date: 22-03-2023
• Published In: Iconic Research And Engineering Journals
• Publisher: IRE Journals
• e-ISSN: 2456-8880
• Volume/Issue: Volume 6 Issue 9 March-2023

Abstract

In this work, an improvement was made tothe altitude control of a quadcopter by effectively turning the PID controller of a nonlinear model of a quadcopter. The result of the characterization of a nonlinear controller gave a peak overshoot that rapidly settled into a stable state. Although this outcome was better in performance than those of linear controllers. An effort was further made to considerably reduce the overshoot observed by the controller by using a linear modelled controller to tune the parameters of the PID controller for altitude control in the nonlinear model and adjusting the model airframe mass by multiplying it through the controller take-off gain. In the experiment done in this work, the maximum height reached by the drone was 3.29m. The median height was 1.5m. The overshoot was taken from the median and it was 1.79m. After enhancing the thrust control of the quadcopter through linearization, the overshoot obtained was 0.0016m.

Keywords

Enhanced, Performance, Overshoot, Unmanned-aerial-vehicle, Non-linear, Controller

Citations

IRE Journals:
Oguanya Kenneth I , Eneh Innocent I , Ene Princewill Chigozie "Development of An Improved Controller for Enhancing the Performance of Unmanned Aerial Vehicle" Iconic Research And Engineering Journals Volume 6 Issue 9 2023 Page 200-206

IEEE:
Oguanya Kenneth I , Eneh Innocent I , Ene Princewill Chigozie "Development of An Improved Controller for Enhancing the Performance of Unmanned Aerial Vehicle" Iconic Research And Engineering Journals, 6(9)