Sliding Modes based Nonlinear PID Controller for Quadrotor - Theory and Experiment

Yasser Bouzid, Houria Siguerdidjane, Yasmina Bestaoui

2017

Abstract

In this paper, a Nonlinear PID (NLPID) control design is proposed. The main idea consists of combining the classical sliding modes approach together with the PID structure. Unlike the existing nonlinear PID controllers in the literature, the coefficients are constant parameters in this work. Within this paper, we investigate the efficiency and the performance of this technique through an application to a small Vertical Take Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV). The NLPID based autopilot drives the vehicle toward the desired configuration in the space while stabilizing the roll and the pitch angles where the closed-loop system stability analysis is highlighted. The numerical simulations have shown satisfactory results using nominal model or disturbed one compared to the use of classic sliding modes technique only. Experimental tests are performed to validate the effectiveness of the proposed control approach.

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Paper Citation


in Harvard Style

Bouzid Y., Siguerdidjane H. and Bestaoui Y. (2017). Sliding Modes based Nonlinear PID Controller for Quadrotor - Theory and Experiment . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-263-9, pages 286-294. DOI: 10.5220/0006433402860294


in Bibtex Style

@conference{icinco17,
author={Yasser Bouzid and Houria Siguerdidjane and Yasmina Bestaoui},
title={Sliding Modes based Nonlinear PID Controller for Quadrotor - Theory and Experiment},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2017},
pages={286-294},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006433402860294},
isbn={978-989-758-263-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Sliding Modes based Nonlinear PID Controller for Quadrotor - Theory and Experiment
SN - 978-989-758-263-9
AU - Bouzid Y.
AU - Siguerdidjane H.
AU - Bestaoui Y.
PY - 2017
SP - 286
EP - 294
DO - 10.5220/0006433402860294