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| Numerical Analysis For Stability Control Of Quadcopter Using Extremum Seeking Based Proportional Integral Derivative Controller
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Ojo, B.A., Adegbola, O. A. & Aborisade, D.O.
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Abstract:
Application of autonomous unmanned aerial vehicle is an essential part of modern era control and monitoring devices especially as quadcopter becomes household names in achieving crucial tasks. Therefore, the stability of such device is crucial to prevent or minimize risk of human lives and financial implication that may arise from improper monitoring of the system dynamics. This study acquired raw aerodynamic data of quadcopter in terms of Altitude, Roll, Pitch and Yaw using X-Plane 11 flight simulator after establishing a bidirectional serial communication between X-Plane 11 and Matlab/Simulink 2018a. This study adopted Extremum Seeking based PID controller as designed in Matlab/Simulink environment to tune the system dynamics for stability purposes. The system stability wascharacterized using rise time, settling time, percentage overshoot, steady state erroras performance metrics. The accuracy of the extremum seeking based PID is dependent on objective function and filter of the controller plant, as appropriate selection of objective and filter function reduce percentage overshoot and bring about fast response and settling time. It was found that the ES-PID controller was effective after the system attained stability within shortest period of time compared to the dynamic transient of the raw data..ES-PID controller is recommended for tuning the quadcopter dynamics to achieve the best stability in real time.
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