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Control design of an UAV–Q based on feedback linearization and optimum modulus methods

Chuyen Tran Duc, Huy Hoang Van, Nguyen Tung Lam

Annals of Computer Science and Information Systems

2021

Vol. 27

17--22

In the paper, we present the formulation of quadrotor control loops that are based on a decomposition into a cascade structure and the use of feedback linearization and optimum modulus methods to determine controller parameters. The dynamic model used in this paper considers the dynamics of the propeller rotor drive systems. The propeller rotor drive systems are considered as a linear actuated system. After the synthesizing of the controllers is completed, the system is simulated in MATLAB/Simulink. The results from this work can be useful for the development of autonomous algorithms for UAV-Q (Unmanned Aerial Vehicle Quadrotor). The research results serve as the basis for control algorithms development for other similar systems.

PID control of FOPDT plants with dominant dead time based on the modulus optimum criterion

Cvejn J.

Archives of Control Sciences

2016

Vol. 26, no. 1

5--17

The modulus optimum (MO) criterion can be used for analytical design of the PID controller for linear systems with dominant dead time. However, although the method usually gives fast and non-oscillating closed-loop responses, in the case of large dead time the stability margin gets reduced and even non-stable behavior can be observed. In this case a correction of the settings is needed to preserve the stability margin. We describe and compare two methods of design of the PID controller based on the MO criterion that for the stable first-order systems with dead time preserve the stability margin, trying to keep maximum of the performance of the original MO settings.