Qin Tang
ABSTRACT
Quadrotor is a key technology widely used in national defence, electric power and agriculture. In order to solve the problems of response hysteresis and sensitivity to sudden input changes of the conventional Proportional-Integral-Derivative (PID) control algorithm in quadrotor control, a filter is added to the outer differential term based on the conventional serial PID control to form an incomplete differential algorithm, which improves the dynamic characteristics of the system and reduces the sensitivity to sudden signal changes; at the same time, a filter is added based on the conventional serial PID control algorithm to form an incomplete differential algorithm, which improves the dynamic characteristics of the system and reduces the sensitivity to sudden signal changes. A filter is added based on the conventional series PID control algorithm to form an incomplete differential algorithm, which improves the dynamic characteristics of the system and reduces the sensitivity to abrupt signal changes; at the same time, a filter is added based on the conventional series PID control algorithm to achieve a smooth controller response curve. Simulation results show that compared with the conventional PID controller, the improved PID control algorithm reduces the maximum overshoot of the system step response from the original 8% to 3%, and its robustness and reliability are greatly improved.
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