Impact of control strategies on altitude control in indoor quadcopter
Chun‐Hung Liu, Wei-Lin Lai, Shang-Chi Shen, Shun-Pin Yeh, Po-Cheng Wu, Yu-Chien Wang, Guan-Yu Luo · 2022 IET International Conference on Engineering Technologies and Applications (IET-ICETA) · 2022
The indoor quadcopter is widely adopted because of its properties of maneuverability, mechanical simplicity, and excellent research platforms to perform control strategies. In this study, impact of several control strategies on altitude control has been provided with classic ZN PID, Fuzzy-based, and GA-based controllers. The buildin nonlinear mathematical model of Parrot Mambo Minidrone is adopted as the control models for the design and deployment in this study. According to the control models, a set of parameters of classic ZN PID controller is obtained as a baseline strategy. Fine-tuned parameters of classic PID are simulated to observe the altitude performance. A Fuzzy-based controller with proper fuzzy sets is also provided to examine the performance. Eventually, an empirical GA-based controller is developed to be compared with other control strategies. The results show that the GA-based controller performed the smallest integral of absolute error of altitude performance and demonstrated averagely 87% improvement of overall altitude error as compared with the baseline controller.