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All Journal International Journal of Robotics and Control Systems Makara Journal of Technology
An, Vo Van
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Chemical Engineering, Chemistry & Bioengineering Civil Engineering, Building, Construction & Architecture Control & Systems Engineering Electrical & Electronics Engineering Engineering Materials Science & Nanotechnology Mechanical Engineering

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Cascade PID Control for Altitude and Angular Position Stabilization of 6-DOF UAV Quadcopter Mien, Trinh Luong; Tu, Tran Ngoc; An, Vo Van
International Journal of Robotics and Control Systems Vol 4, No 2 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i2.1410

Abstract

UAVs are commonly used in transportation, especially in the express delivery of light cargo parcels. However, controlling UAVs is difficult because of their complex structure and wide range of operations in space. The research contribution is proposed a cascade control structure using six PID controllers for the 6-DOF UAV quadcopter, that ensures the altitude angulars positions control at the desired values and maintains flight balance stability for the 6-DOF UAV quadcopter. First, the mathematical dynamic models for the 6-DOF UAV quadcopter have been researched and developed, including the translational dynamic mathematical model and the rotational dynamic mathematical model of the 6-DOF UAV quadcopter. This is a complex object with strong nonlinearity and difficult control. And then, the article introduces the method of designing six PID controllers for 6-DOF UAV quadcopter to meet the requirements, based on applying the Ziegler-Nichols experimental method.  Applying the Ziegler-Nichols experimental method makes the process of designing a UAV quadcopter control system simple, straightforward and heuristics with fast controller parameters tuning. Next, the article presents the results of modeling and simulation of the 6-DOF UAV quadcopter control system on Matlab/Simulink. The simulation results show that the six proposed PID controllers have ensured the flight balance stability at the desired altitude and angular positions with overshoot less than 20%, steady-state error less than 1%.  This shows the prospect of applying the proposed PID control method to physical UAVs, easily adjusting PID parameters to suit the flight environment.
The PID-Based Three Quadcopter UAVs Formation Control under External Disturbance An, Vo Van; Mien, Trinh Luong
Makara Journal of Technology Vol. 30, No. 1
Publisher : UI Scholars Hub

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Abstract

This paper presents the design and evaluation of a formation control strategy for three quadcopter UAVs, based on a PID controller in a leader–follower structure, under the influence of external disturbances. Each UAV employs a six-degree of-freedom dynamic model and utilises a cascade PID control architecture, in which the inner control loop stabilises the attitude. In contrast, the outer control loop regulates position and maintains the formation. The PID parameters are tuned using the Ziegler–Nichols method to ensure simple implementation and low computational cost. The performance of the control system is evaluated through simulations in the MATLAB environment for two typical formation shapes (linear and triangular), both in noise-free conditions and under external disturbances. Simulation results show that in noise-free conditions, the system achieves a rise time of about 2–3 seconds, a settling time of 10–15 seconds for the linear formation, and 20–25 seconds for the triangular formation, with overshoot less than 15% on the position axes and a steady-state error of approximately 0.05 meters. When subjected to external disturbances, the UAVs still maintain the desired formation with a steady-state error of less than 0.1–0.5 meters, demonstrating an acceptable level of disturbance resistance. These results prove that, despite its simple structure, the proposed Leader–Follower PID control strategy can still ensure stable formation and effective trajectory tracking for small-scale UAV systems, while also being suitable for practical applications that require low cost and high deployability.
Co-Authors Mien, Trinh Luong Tu, Tran Ngoc