Aerospace and Electronic Systems Magazine July 2018 - 26
A Survey on Quadrotors
Table 8.
Disturbances Along the z-Axis
PID
Feedback
Linearization
Classical SM
Second
Order SM
Integral
Backstepping
Unstable
Unstable
0.9952
1.0419
0.1224
-
-
0.9
1.02
1.2
Unstable
Unstable
1.9701
1.4726
0.3468
-
-
1.6
1.5
2.17
Unstable
Unstable
3.4483
2.1140
0.1576
-
-
2.6
1.4
1.303
Lyapunov
Disturbance at 10s
Peak (m)
Time to comeback (s)
1.9832
1.7
Disturbance at 21s
Peak (m)
Time to comeback (s)
2.7752
2.2
Disturbance at 44s
Peak (m)
Time to comeback (s)
4.9805
1.6
Table 9.
Energy Efficiency Criterion
PID
Feedback
Linearization
Classical SM
Second Order
SM
Integral
Backstepping
Lyapunov
571.4330
3.6750e+03
6.0094e+04
6.1265e+04
1.0157e+03
5.2708e+04
11.3123
34.3274
550.2632
566.8043
29.8952
463.2621
Max(U2)
16.7656
14.7414
244.4343
258.1145
614.1298
245.7166
RMS
0.0496
0.3628
5.5969
5.6392
15.7954
4.6553
Max(U3)
60.9936
14.7390
265.9438
276.2636
313.3164
246.8182
RMS
0.1457
0.4289
6.4706
6.6577
11.1777
4.5124
Max(U4)
5.3602
59.0619
900.3842
937.7598
0.4470
892.3024
RMS
0.0668
1.1011
8.3992
8.8259
0.0273
8.3068
U1
Max(U1)
RMS
U2
U3
U4
criterion, we can say that the second order sliding mode has the
most precision for the mission of path tracking over the axis x and
y in the smooth part (part 1), the aggressive part (part 2), and part
3. Additionally, the sliding mode controller has the most precision
for the path tracking along the z-axis. Moreover, the second order
sliding mode controller has the most efficiency after adding the
disturbances along the x and y axis, and the integral backstepping
along the z-axis. On the other hand, the energy efficiency criteria
show that the PID has the minimum energy for U1 and U2, the
feedback linearization for U3, and the integral back-stepping for
U4. Other case studies have been tested and the same conclusion
has been found.
26
REFERENCES
[1]
[2]
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towards precision farming. In Proceedings of the 2003 IEEE/ASME
International Conference on Advanced Intelligent Mechatronics (AIM
2003), 2003, Vol. 2, 1073-1078.
Archer, F., Shutko, A. M., Coleman, T. L., Haldin, A., Novichikhin, E.,
and Sidorov, I. Introduction, overview, and status of the Microwave
Autonomous Copter System (MACS). In Proceedings of the 2004
IEEE International Geoscience and Remote Sensing Symposium,
(IGARSS'04),. 2004, Vol. 5, 3574-3576.
JULY 2018
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