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AN ADAPTIVE CONTROL SYSTEM BASED ON PID, I2PD AND RLS, A SIMULATED DESIGN FOR UAVS
Mälardalen University, School of Innovation, Design and Engineering.
Mälardalen University, School of Innovation, Design and Engineering.
2017 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

During this master thesis an adaptive control system for angular velocity was developed. The approach focuses on radio controlled quadrotors and thereby targets a computational efficient solution. The adaptation is divided into two steps. First, an Integral Squared Plus Time Delay (I2PD) model estimation is done through the Recursive Least Squares (RLS) algorithm. Second, control parameters for the quadrotors Proportional Integral Derivative (PID) controller are found by using empirically modified Tuning Rules (TRs) which are based on the I2PD model. Simulation results show the benefits of an adaptive tuning algorithm in regards of the time consuming process of manually tuning a PID controller as well as robustness against both predictable and unpredictable system changes. This includes actuator degradation, battery consumption, changes in weight or inertia etc. However, it is apparent that the tuning algorithm demands an arbitrary initial approximation to be stable at initialization.

Place, publisher, year, edition, pages
2017. , p. 71
Keywords [en]
RLS, PID Controller, UAV, quadrotor, adaptive control, I2PD, simulation
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:mdh:diva-35614OAI: oai:DiVA.org:mdh-35614DiVA, id: diva2:1107041
Subject / course
Innovation & design
Supervisors
Examiners
Available from: 2017-06-19 Created: 2017-06-08 Last updated: 2017-06-19Bibliographically approved

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf