PID vs. Backstepping Control for Cooperative Quadrotors Unmanned Aerial Vehicles

Document Type : Original Article

Authors

1 Department of Optoelectronics and Control, Military Technical College, Cairo, Egypt.

2 Aircraft Armament Department, Military Technical College, Cairo, Egypt.

3 Commandant of MTC, Cairo, Egypt.

10.1088/1757-899X/610/1/012057

Abstract

Formation reconfiguration is one of the most important tactics used in the field of cooperative Unmanned Air Vehicles. In this paper, formation reconfiguration for a team of vertical takeoff and landing quadrotors is managed by a classical approach of proportional-integral-derivative (PID) controller. PID controller is designed to regulate the attitude and the altitude for every quadrotor of a cooperative team respecting the separating span and velocity constraints. PID controller results are compared with a backstepping controller developed for the same system. The mathematical model of the propositioned system is derived initially, and then a PID controller using simplex and genetic algorithms is designed qualifying the cooperative quadrotors to track the desired trajectories. Simulation results present the assessment of PID control strategy along with backstepping control strategy in different scenarios including proposal flight mission in obstacle-free surroundings, and obstacle-laden surroundings. Noise attenuation and disturbance rejection are examined for both controllers to check the robustness of the system.

Keywords

International Conference on Aerospace Sciences and Aviation Technology
Volume 18, Issue 18
18th International Conference on Aerospace Sciences & Aviation Technology 9–11 April 2019
April 2019
Pages 1-23

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