Comparison of anti-interference ability between PID controller and ADRC controller in UAV operation at ocean

Research Article
Open access

Comparison of anti-interference ability between PID controller and ADRC controller in UAV operation at ocean

Wanshun Xu 1*
  • 1 Engineering, University of Western Ontario    
  • *corresponding author nick.xuwanshun@gmail.com
TNS Vol.5
ISSN (Print): 2753-8826
ISSN (Online): 2753-8818
ISBN (Print): 978-1-915371-53-9
ISBN (Online): 978-1-915371-54-6

Abstract

With the maturity of UAV technology, drones can carry different instruments in the air to help people complete their work more efficiently. However, different working environments also bring different challenges to UAV control systems. This paper mainly discusses the quadrotor UVA and compares the stability of the Proportional Integral Derivative (PID) controller and Active disturbance rejection controller (ADRC) under the disturbance of gusts at sea. The flight principle of the quadrotor and the dynamic model of the quadrotor will be discussed on this basis. Then the composition and mathematical formula of the PID and ADRC controllers are introduced and compared. In general, this paper focused on the anti-jamming ability of different controllers under the influence of gust, which shows that although the ADRC controller has a more complex system and tedious parameter adjustment process in comparison with the PID controller, it has excellent anti-gust interference ability and can better serve the offshore operation of UAV.

Keywords:

PID, ADRC, UAV, Anti-Interference, ocean operation

Xu,W. (2023). Comparison of anti-interference ability between PID controller and ADRC controller in UAV operation at ocean. Theoretical and Natural Science,5,720-726.
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References

[1]. Okasha, M., Kralev, J., & Islam, M. (2022). Design and experimental comparison of PID, LQR, and MPC stabilizing controllers for Parrot Mambo Mini-Drone. Aerospace, 9(6), 298.

[2]. Feng Peiyan. (2018). Quadrotor UVA modeling and PID controller design. Industrial design, 135.

[3]. H. Bouadi, M. Bouchoucha, and M. Tadjine, "Modelling and stabilizing control laws design based on backstepping for a UAV type-quadrotor", IFAC Proceedings Volumes, 40(15), pp. 245-250, 2007.

[4]. Yoon, J., & Doh, J. (2022). Optimal PID control for hovering stabilization of Quadcopter using long short-term memory. Advanced Engineering Informatics, 53, 101679.

[5]. Okasha, M., Kralev, J., & Islam, M. (2022). Design and experimental comparison of PID, LQR, and MPC stabilizing controllers for Parrot Mambo Mini-Drone. Aerospace, 9(6), 298.

[6]. Han, B., Zhou, Y., Deveerasetty, K. K., & Hu, C. (2018). A review of control algorithms for Quadrotor. 2018 IEEE International Conference on Information and Automation (ICIA).

[7]. Jingqing han, lulin yuan, discrete form of tracking differentiator, journal of systems science and mathematics, 1999, pp. 268-273.

[8]. Bie, G., & Chen, X. (2022). UAV trajectory tracking based on ADRC control algorithm. ITM Web of Conferences, 47, 02017.

[9]. Zhang, S., Xue, X., Chen, C., Sun, Z., & Sun, T. (2019). Development of a low-cost quadrotor UAV based on ADRC for Agricultural Remote Sensing. International Journal of Agricultural and Biological Engineering, 12(4), 82–87.

[10]. G. Zhu, J. Qi and C. Wu, "Landing Control of Fixed-wing UAV Based on ADRC," 2019 Chinese Control Conference (CCC), 2019, pp. 8020-8025.

[11]. T. Niu, H. Xiong and S. Zhao, "Based on ADRC UAV longitudinal pitching Angle control research," 2016 IEEE Information Technology, Networking, Electronic and Automation Control Conference, 2016, pp. 21-25.

Cite this article

Xu,W. (2023). Comparison of anti-interference ability between PID controller and ADRC controller in UAV operation at ocean. Theoretical and Natural Science,5,720-726.

Data availability

The datasets used and/or analyzed during the current study will be available from the authors upon reasonable request.

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About volume

Volume title: Proceedings of the 2nd International Conference on Computing Innovation and Applied Physics (CONF-CIAP 2023)

ISBN：978-1-915371-53-9(Print) / 978-1-915371-54-6(Online)
Editor：Marwan Omar, Roman Bauer
Conference website: https://www.confciap.org/
Conference date: 25 March 2023
Series: Theoretical and Natural Science
Volume number: Vol.5
ISSN：2753-8818(Print) / 2753-8826(Online)

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References

[1]. Okasha, M., Kralev, J., & Islam, M. (2022). Design and experimental comparison of PID, LQR, and MPC stabilizing controllers for Parrot Mambo Mini-Drone. Aerospace, 9(6), 298.

[2]. Feng Peiyan. (2018). Quadrotor UVA modeling and PID controller design. Industrial design, 135.

[3]. H. Bouadi, M. Bouchoucha, and M. Tadjine, "Modelling and stabilizing control laws design based on backstepping for a UAV type-quadrotor", IFAC Proceedings Volumes, 40(15), pp. 245-250, 2007.

[4]. Yoon, J., & Doh, J. (2022). Optimal PID control for hovering stabilization of Quadcopter using long short-term memory. Advanced Engineering Informatics, 53, 101679.

[5]. Okasha, M., Kralev, J., & Islam, M. (2022). Design and experimental comparison of PID, LQR, and MPC stabilizing controllers for Parrot Mambo Mini-Drone. Aerospace, 9(6), 298.

[6]. Han, B., Zhou, Y., Deveerasetty, K. K., & Hu, C. (2018). A review of control algorithms for Quadrotor. 2018 IEEE International Conference on Information and Automation (ICIA).

[7]. Jingqing han, lulin yuan, discrete form of tracking differentiator, journal of systems science and mathematics, 1999, pp. 268-273.

[8]. Bie, G., & Chen, X. (2022). UAV trajectory tracking based on ADRC control algorithm. ITM Web of Conferences, 47, 02017.

[9]. Zhang, S., Xue, X., Chen, C., Sun, Z., & Sun, T. (2019). Development of a low-cost quadrotor UAV based on ADRC for Agricultural Remote Sensing. International Journal of Agricultural and Biological Engineering, 12(4), 82–87.

[10]. G. Zhu, J. Qi and C. Wu, "Landing Control of Fixed-wing UAV Based on ADRC," 2019 Chinese Control Conference (CCC), 2019, pp. 8020-8025.

[11]. T. Niu, H. Xiong and S. Zhao, "Based on ADRC UAV longitudinal pitching Angle control research," 2016 IEEE Information Technology, Networking, Electronic and Automation Control Conference, 2016, pp. 21-25.

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