Internal Model Control Tuned Proportional Integral Derivative for Quadrotor Unmanned Aerial Vehicle Dynamic Model

Abstract

In recent times, there are has been growing substantive attention to the quadrotor Unmanned Aerial Vehicle (UAV) stability control. However, inherent nonlinearity is a major challenge with this control technique, this paper, therefore, developed a PID based Internal Model Control (IMC) method for the dynamic model of quadrotor UAV. The versatility and simplicity of the Proportional-Integral-Derivative (PID) controller enable it to enjoy wide usage and acceptability as stability control methods for the unmanned aerial vehicles. The aim of this paper is to use the PID controller with IMC to control a UAV. The proposed approach - IMC-PID control method -was simulated using MATLAB software and X-plane flight simulator. Thereafter, a comparative analysis of the IMC-PID control method with Chien-Hrones-Reswick, Cohen-coon, and Ziegler Nichols based PID Controllers was done using pitch and altitude as performance metrics.

Keywords: Internal Model Control,MATLAB/Simulink, Proportional Integral Derivative, Quadrotor, Unmanned Aerial Vehicle (UAV),X-Plane,

DOI: 10.7176/CTI/9-01

Publication date: April 30^th 2020