Model-Based Optimization Approach for PID Control of Pitch–Roll UAV Orientation

Orlando Arrieta (), Daniel Campos, Javier Rico-Azagra, Montserrat Gil-Martínez (), José D. Rojas and Ramon Vilanova ()
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Orlando Arrieta: Instituto de Investigaciones en Ingeniería, Facultad de Ingeniería, Universidad de Costa Rica, San José 11501-2060, Costa Rica
Daniel Campos: Instituto de Investigaciones en Ingeniería, Facultad de Ingeniería, Universidad de Costa Rica, San José 11501-2060, Costa Rica
Javier Rico-Azagra: Control Engineering Research Group, Electrical Engineering Department, University of La Rioja, 26004 Logroño, Spain
Montserrat Gil-Martínez: Control Engineering Research Group, Electrical Engineering Department, University of La Rioja, 26004 Logroño, Spain
José D. Rojas: Instituto de Investigaciones en Ingeniería, Facultad de Ingeniería, Universidad de Costa Rica, San José 11501-2060, Costa Rica
Ramon Vilanova: Departament de Telecomunicació i d’Enginyeria de Sistemes, Escola d’Enginyeria, Universitat Autònoma de Barcelona, Bellaterra, 08193 Barcelona, Spain

Mathematics, 2023, vol. 11, issue 15, 1-17

Abstract: This study focuses on the modeling and control optimization of the pitch–roll angles orientation in a quad-rotor UAV (unmanned aerial vehicle) drone system. To address the control challenge, PID (proportional–integral–derivative) controllers are used, which have been tuned through a model-based optimization approach. A non-linear model of the system is obtained and further validated experimentally. The model is implemented in Simulink to conduct model-based optimization. The controller design uses an IMC (internal model control) model-based approach to establish the initial parameters for a PID controller. In the subsequent design phase, a multiobjective approach is taken, incorporating weighted cost functions that account for IAE (integral absolute error) and ITAE (integral of time-weighted absolute error) forms, along with battery usage. The outcomes of this design are showcased through simulations and real-world platform testing.

Keywords: model-based optimization; multiobjective optimization; UAV system (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
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