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All Journal IAES International Journal of Robotics and Automation (IJRA)
Seddik, Hassene
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Automotive Engineering Electrical & Electronics Engineering

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Nonlinear Kalman filter for gyroscopic and accelerometer noise rejection of an unmanned aerial vehicle control strategy Arfa, Wassim; Ben Jabeur, Chiraz; Fathallah, Mourad; Seddik, Hassene
IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 2: June 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v13i2.pp194-204

Abstract

This study addresses timing issues inherent in traditional proportional-integral-derivative (PID) controllers for drone angle control and introduces an innovative solution, the adaptive PID flight controller, aimed at optimizing PID gains for improved performance in terms of speed, accuracy, and stability. To enhance the controller's robustness against noise and accurately estimate the system's state, a Kalman filter is incorporated. This filtering mechanism is designed to reject noise and provide precise state estimation, thereby contributing to the overall effectiveness of the adaptive PID flight controller in managing altitude dynamics for unmanned aerial vehicles (UAVs). The comparative methodology evaluates three configurations: a single PID controller for all three angles, two PID controllers dedicated to pitch/roll and yaw angles separately, and three PID sub-controllers for each angle (pitch, roll, and yaw). The study seeks to identify the most effective PID configuration in terms of stability, responsiveness, and accuracy while highlighting the added benefits of noise rejection and state estimation through the Kalman filter. This integrated approach showcases innovation and effectiveness, introducing a comprehensive solution not explored in previous research.
Co-Authors Arfa, Wassim Ben Jabeur, Chiraz Fathallah, Mourad