KMITL

Permanent URI for this communityhttps://dspace.kmitl.ac.th/handle/123456789/1

Browse

Settings

Author: search.filters.author.Depaiwa, NattawootSubject: search.filters.subject.Adaptive

Search Results

Now showing 1 - 1 of 1
  • Loading...
    Thumbnail Image
    Some of the metrics are blocked by your 
    consent settings
    Item type:Publication,
    Adaptive PID for controlling a quadrotor in a virtual outdoor scenario: Simulation study
    (2013-11-25)
    Moonumca, Pisan
    ;
    Yamamoto, Yoshio
    ;
    Depaiwa, Nattawoot
    The main purpose of this paper is to develop a robust control methodology for unmanned aerial vehicles such as a quadrotor. A conventional proportional-integral-derivative (PID) controller is augmented with adaptive K<inf>P</inf> or non-adaptive K<inf>P</inf> in a throttle input and the both cases are compared and analyzed. Adaptive K<inf>P</inf> is suitable for a system which is subjected to parameter uncertainty, such as variation in payload or wind speed, as the algorithm is able to adjust the K<inf>P</inf> gain of the PID controller so that they maintain robustness and performance. The performance results of the two controllers when applied to a quadrotor are demonstrated using numerical simulation. © 2013 IEEE.