Improving Disturbance Rejection Capability for a Quadcopter UAV System Using Self-Regulating Fuzzy PID Controller

Sherif I. Abdelmaksoud; Musa Mailah; Ayman M. Abdallah

doi:10.1109/ICCCEEE49695.2021.9429661

Improving Disturbance Rejection Capability for a Quadcopter UAV System Using Self-Regulating Fuzzy PID Controller

Sherif I. Abdelmaksoud
, Musa Mailah
, Ayman M. Abdallah

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

The quadcopter model is one of the most versatile flying machines nowadays. However, it is an under-Actuated, highly non-linear, and coupling system. It is also sensitive to external disturbances and uncertainties while trajectory tracking. Thus, in this study, a robust control method for the quadcopter system was proposed to improve system stability and disturbances rejection capability by utilizing a Self-Regulating (SR) Fuzzy Proportional-Integral-Derivative (FPID) control system, to be known as (SR-FPID) scheme. The proposed control system was designed based on the Fuzzy Logic (FL) to provide the automatic tuning of the PID control parameters based on various operating and loading requirements. The simulated results reveal the efficiency and robustness of the SR-FPID scheme in significantly improving the disturbance rejection capability and reducing the percentages of the settling time and the peak time of at least 97% in the presence of various forms of external perturbations.

Original language	English
Title of host publication	Proceedings of
Subtitle of host publication	2020 International Conference on Computer, Control, Electrical, and Electronics Engineering, ICCCEEE 2020
Editors	Dalia Mahmoud, Siddig Gomha, Atif Osman
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728191119
DOIs	https://doi.org/10.1109/ICCCEEE49695.2021.9429661
State	Published - 26 Feb 2021

Publication series

Name	Proceedings of: 2020 International Conference on Computer, Control, Electrical, and Electronics Engineering, ICCCEEE 2020

Bibliographical note

Publisher Copyright:
© 2021 IEEE.

Keywords

Disturbance Rejection
Fuzzy logic
PID
Quadcopter
Rotorcraft UAVs
Self-regulating
Trajectory tracking

ASJC Scopus subject areas

Artificial Intelligence
Hardware and Architecture
Energy Engineering and Power Technology
Control and Systems Engineering
Electrical and Electronic Engineering
Control and Optimization
Instrumentation

Access to Document

10.1109/ICCCEEE49695.2021.9429661

Cite this

Abdelmaksoud, S. I., Mailah, M., & Abdallah, A. M. (2021). Improving Disturbance Rejection Capability for a Quadcopter UAV System Using Self-Regulating Fuzzy PID Controller. In D. Mahmoud, S. Gomha, & A. Osman (Eds.), Proceedings of: 2020 International Conference on Computer, Control, Electrical, and Electronics Engineering, ICCCEEE 2020 Article 9429661 (Proceedings of: 2020 International Conference on Computer, Control, Electrical, and Electronics Engineering, ICCCEEE 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCCEEE49695.2021.9429661

Abdelmaksoud, Sherif I. ; Mailah, Musa ; Abdallah, Ayman M. / Improving Disturbance Rejection Capability for a Quadcopter UAV System Using Self-Regulating Fuzzy PID Controller. Proceedings of: 2020 International Conference on Computer, Control, Electrical, and Electronics Engineering, ICCCEEE 2020. editor / Dalia Mahmoud ; Siddig Gomha ; Atif Osman. Institute of Electrical and Electronics Engineers Inc., 2021. (Proceedings of: 2020 International Conference on Computer, Control, Electrical, and Electronics Engineering, ICCCEEE 2020).

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title = "Improving Disturbance Rejection Capability for a Quadcopter UAV System Using Self-Regulating Fuzzy PID Controller",

abstract = "The quadcopter model is one of the most versatile flying machines nowadays. However, it is an under-Actuated, highly non-linear, and coupling system. It is also sensitive to external disturbances and uncertainties while trajectory tracking. Thus, in this study, a robust control method for the quadcopter system was proposed to improve system stability and disturbances rejection capability by utilizing a Self-Regulating (SR) Fuzzy Proportional-Integral-Derivative (FPID) control system, to be known as (SR-FPID) scheme. The proposed control system was designed based on the Fuzzy Logic (FL) to provide the automatic tuning of the PID control parameters based on various operating and loading requirements. The simulated results reveal the efficiency and robustness of the SR-FPID scheme in significantly improving the disturbance rejection capability and reducing the percentages of the settling time and the peak time of at least 97\% in the presence of various forms of external perturbations.",

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Abdelmaksoud, SI, Mailah, M & Abdallah, AM 2021, Improving Disturbance Rejection Capability for a Quadcopter UAV System Using Self-Regulating Fuzzy PID Controller. in D Mahmoud, S Gomha & A Osman (eds), Proceedings of: 2020 International Conference on Computer, Control, Electrical, and Electronics Engineering, ICCCEEE 2020., 9429661, Proceedings of: 2020 International Conference on Computer, Control, Electrical, and Electronics Engineering, ICCCEEE 2020, Institute of Electrical and Electronics Engineers Inc. https://doi.org/10.1109/ICCCEEE49695.2021.9429661

Improving Disturbance Rejection Capability for a Quadcopter UAV System Using Self-Regulating Fuzzy PID Controller. / Abdelmaksoud, Sherif I.; Mailah, Musa; Abdallah, Ayman M.
Proceedings of: 2020 International Conference on Computer, Control, Electrical, and Electronics Engineering, ICCCEEE 2020. ed. / Dalia Mahmoud; Siddig Gomha; Atif Osman. Institute of Electrical and Electronics Engineers Inc., 2021. 9429661 (Proceedings of: 2020 International Conference on Computer, Control, Electrical, and Electronics Engineering, ICCCEEE 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - The quadcopter model is one of the most versatile flying machines nowadays. However, it is an under-Actuated, highly non-linear, and coupling system. It is also sensitive to external disturbances and uncertainties while trajectory tracking. Thus, in this study, a robust control method for the quadcopter system was proposed to improve system stability and disturbances rejection capability by utilizing a Self-Regulating (SR) Fuzzy Proportional-Integral-Derivative (FPID) control system, to be known as (SR-FPID) scheme. The proposed control system was designed based on the Fuzzy Logic (FL) to provide the automatic tuning of the PID control parameters based on various operating and loading requirements. The simulated results reveal the efficiency and robustness of the SR-FPID scheme in significantly improving the disturbance rejection capability and reducing the percentages of the settling time and the peak time of at least 97% in the presence of various forms of external perturbations.

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Abdelmaksoud SI, Mailah M, Abdallah AM. Improving Disturbance Rejection Capability for a Quadcopter UAV System Using Self-Regulating Fuzzy PID Controller. In Mahmoud D, Gomha S, Osman A, editors, Proceedings of: 2020 International Conference on Computer, Control, Electrical, and Electronics Engineering, ICCCEEE 2020. Institute of Electrical and Electronics Engineers Inc. 2021. 9429661. (Proceedings of: 2020 International Conference on Computer, Control, Electrical, and Electronics Engineering, ICCCEEE 2020). doi: 10.1109/ICCCEEE49695.2021.9429661

Improving Disturbance Rejection Capability for a Quadcopter UAV System Using Self-Regulating Fuzzy PID Controller

Abstract

Publication series

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this