Gain Scheduling Based PID Control Approaches for Path Tracking and Fault Tolerant Control of a Quad-rotor UAV

Jing Qiao, Zhixiang Liu, and Youmin Zhang
Concordia University, Montreal, H3G 1M8, Quebec, Canada
Abstract—Quad-rotor UAVs have generated considerable interest in the control community because of their wide applications due to their advantages over regular air vehicles. In this paper Gain-Scheduling PID (GS-PID) control approaches were designed for a quad-rotor UAV with the feature of being a multivariable nonlinear system. The control target, a Quanser Qball-X4 quad-rotor UAV, was introduced in this paper. The proposed design procedure of control approaches is based on the parameter dependent quadratic stability approach. The mission processes includes a programmed path tracking of the quad-rotor, and a fault-tolerant process of the quad-rotor during hovering. Simulation results carried out are shown, wherein the performance achieved with these control strategies are shown as well. The simulation results show that control algorithms implemented for the quad-rotor UAV in this paper could increases the performance of the quad-rotor UAV in tracking the desired trajectory and increases reliability of the UAV.
 
Index Terms—Quad-rotor, UAV, PID controller, gain scheduling, trajectory tracking, fault tolerant

Cite:Jing Qiao, Zhixiang Liu, and Youmin Zhang, "Gain Scheduling Based PID Control Approaches for Path Tracking and Fault Tolerant Control of a Quad-rotor UAV," International Journal of Mechanical Engineering and Robotics Research, Vol. 7, No. 4, pp. 401-408, July 2018. DOI: 10.18178/ijmerr.7.4.401-408
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