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Publication Date
Tue Jun 01 2021
Journal Name
Iop Conference Series: Materials Science And Engineering
Volume
1105
DOI
10.1088/1757-899X/1105/1/012019
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RxchXJIBVTCNdQwCOa1q
An Experimental Research on Design and Development Diversified Controllers for Tri-copter Stability Comparison
Tri-copter
PID (NLPID)
Fractional Order PID (FOPID)
Grey Wolf Optimization (GWO) algorithm.
Sadiq Jawad
Muna Hadi
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Abstract<p>The drones have become the focus of researchers’ attention because they enter into many details of life. The Tri-copter was chosen because it combines the advantages of the quadcopter in stability and manoeuvrability quickly. In this paper, the nonlinear Tri-copter model is entirely derived and applied three controllers; Proportional-Integral-Derivative (PID), Fractional Order PID (FOPID), and Nonlinear PID (NLPID). The tuning process for the controllers’ parameters had been tuned by using the Grey Wolf Optimization (GWO) algorithm. Then the results obtained had been compared. Where the improvement rate for the Tri-copter model of the nonlinear controller (NLPID) if compared with the linear controller is (81.69%). Also, compared the paper results with the previous work results, where the greatest improvement in the stability of the Tri-copter model was (94.2 %) in the nonlinear controller and for traditional PID controller was (79.22).</p>
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Tue Mar 01 2022
Journal Name
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