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Proceedings Paper

Comparison of gradient methods for gain tuning of a PD controller applied on a quadrotor system
Author(s): Jinho Kim; Stephen A. Wilkerson; S. Andrew Gadsden
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Paper Abstract

Many mechanical and electrical systems have utilized the proportional-integral-derivative (PID) control strategy. The concept of PID control is a classical approach but it is easy to implement and yields a very good tracking performance. Unmanned aerial vehicles (UAVs) are currently experiencing a significant growth in popularity. Due to the advantages of PID controllers, UAVs are implementing PID controllers for improved stability and performance. An important consideration for the system is the selection of PID gain values in order to achieve a safe flight and successful mission. There are a number of different algorithms that can be used for real-time tuning of gains. This paper presents two algorithms for gain tuning, and are based on the method of steepest descent and Newton’s minimization of an objective function. This paper compares the results of applying these two gain tuning algorithms in conjunction with a PD controller on a quadrotor system.

Paper Details

Date Published: 13 May 2016
PDF: 10 pages
Proc. SPIE 9837, Unmanned Systems Technology XVIII, 98370V (13 May 2016); doi: 10.1117/12.2223329
Show Author Affiliations
Jinho Kim, Univ. of Maryland (United States)
Stephen A. Wilkerson, U.S. Army Research Lab. (United States)
S. Andrew Gadsden, Univ. of Maryland (United States)

Published in SPIE Proceedings Vol. 9837:
Unmanned Systems Technology XVIII
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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