Open Access
ARTICLE
Ziegler–Nichols Customization for Quadrotor Attitude Control under Empty and Full Loading Conditions
Ivan Paulo Canal1,*, Manuel Martin Pérez Reimbold2, Maurício de Campos2
1 Federal Institute of Education, Science and Technology Farroupilha, Campus Panambi, Panambi, Brazil
2 Regional University of the Northwest of the State of Rio Grande do Sul, Ijuí, Brazil
* Corresponding Author: Ivan Paulo Canal. Email:
Computer Modeling in Engineering & Sciences 2020, 125(1), 65-75. https://doi.org/10.32604/cmes.2020.010741
Received 24 March 2020; Accepted 19 June 2020; Issue published 18 September 2020
Abstract
An aircraft quadrotor is a complex control system that allows for great
flexibility in flight. Controlling multirotor aerial systems such as quadrotors is
complex because the variables involved are not always available, known, and
accurate. The inclusion of payload changes the dynamic characteristics of the aircraft, making it necessary to adapt the control system for this situation. Among
the various control methods that have been investigated, proportional-integralderivative (PID) control offers good results and simplicity of application; however, achieving stability and high performance is challenging, with the most
critical task being tuning the controller gains. The Ziegler–Nichols (ZN) theory
was used to tune the controller gains for pitch and roll attitude command; however, the performance results were not satisfactory. The response of this system
was refined, resulting in an improvement in the reference tracking and the rejection of disturbances. This particular refinement was applied to the quadrotor, and
via a reverse calculation, the parameters that allow the tuning of PID gains were
obtained, based on ZN. The particularization of the ZN theory applied to a quadrotor with and without a load (termed ZNAQ and ZNAQL, respectively) is proposed and results in a significant improvement in the control system response
performance (up to 75%), demonstrating that ZNAQ and ZNAQL are valid
for tuning the controller PID gains and are more efficient than the original
ZN theory approach.
Keywords
Cite This Article
APA Style
Canal, I.P., Reimbold, M.M.P., Campos, M.D. (2020). Ziegler–nichols customization for quadrotor attitude control under empty and full loading conditions. Computer Modeling in Engineering & Sciences, 125(1), 65-75. https://doi.org/10.32604/cmes.2020.010741
Vancouver Style
Canal IP, Reimbold MMP, Campos MD. Ziegler–nichols customization for quadrotor attitude control under empty and full loading conditions. Comput Model Eng Sci. 2020;125(1):65-75 https://doi.org/10.32604/cmes.2020.010741
IEEE Style
I.P. Canal, M.M.P. Reimbold, and M.D. Campos "Ziegler–Nichols Customization for Quadrotor Attitude Control under Empty and Full Loading Conditions," Comput. Model. Eng. Sci., vol. 125, no. 1, pp. 65-75. 2020. https://doi.org/10.32604/cmes.2020.010741