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Authors: Yasser Bouzid ; Houria Siguerdidjane and Yasmina Bestaoui

Affiliation: Université Paris-Saclay, France

ISBN: 978-989-758-263-9

Keyword(s): UAV, Trajectory Tracking, Flight Control, Nonlinear PID.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence and Decision Support Systems ; Enterprise Information Systems ; Industrial Engineering ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Knowledge-Based Systems Applications ; Nonlinear Signals and Systems ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; Systems Modeling and Simulation

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 several formats:
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

@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},
}

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

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