Anti-windup and Multi-Mode PID Control of Yaw Movement for a Quad-Rotor UAV
PENG Cheng1,2, BAI Yue2, QIAO Guanyu2,3, GONG Xun2, TIAN Yantao1
1. School of Telecommunication Engineering, Jilin University, Changchun 130025, China;
2. Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China;
3. University of Chinese Academy of Sciences, Beijing 100049, China
彭程, 白越, 乔冠宇, 宫勋, 田彦涛. 四旋翼无人机的偏航抗饱和与多模式PID控制[J]. 机器人, 2015, 37(4): 415-423.DOI: 10.13973/j.cnki.robot.2015.0415.
PENG Cheng, BAI Yue, QIAO Guanyu, GONG Xun, TIAN Yantao. Anti-windup and Multi-Mode PID Control of Yaw Movement for a Quad-Rotor UAV. ROBOT, 2015, 37(4): 415-423. DOI: 10.13973/j.cnki.robot.2015.0415.
The actuator saturation tends to occur in the yaw movement of a quad-rotor UAV (unmanned air vehicle), especially in the presence of disturbances, which results from the fact that yaw movement is much weaker than pitch movement and roll movement. In order to address this problem, a multi-mode proportional-intergral-differential (MMPID) anti-windup controller is proposed from the view point of practical engineering, to prevent actuator saturation in the yaw movement, and the favorable yaw control performance can be guaranteed in the case of external disturbances. Firstly, MMPID method as yaw controller is designed based on the dynamic model of the quad-rotor. MMPID controller has multi-mode characteristic and carries out desaturation strategy under certain conditions. Then, the yaw control system based on MMPID method is proved to be stable using Lyapunov theory. Finally, comparative experiments based on quad-rotor simulation show that MMPID method has significant advantages than variable-structure PID method with respect to the anti-windup performance and yaw control performance. In additon, the validity and robustness of MMPID yaw controller are verified via quad-rotor prototype experiments. Experimental results indicate that the yaw control system based on MMPID method has nearly no saturation with yaw angle error limited to ± 0.05rad indoors without disturbances. It spends 10s to exit saturation with yaw angle error limited to ± 0.08rad indoors with disturbances. It spends 5s to exit saturation with yaw angle error limited to ± 0.13rad outdoors. MMPID controller can effectively prevent actuator saturation in the yaw movement with accurate yaw control and strong robustness for a quad-rotor UAV.
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