8bfccbe436e18fb9f5d41c4daea2aa82 Mat_a2023v11n15p3390.pdf c85e568bdffce8c9f74599a190c0fffa05b8154a Mat_a2023v11n15p3390.pdf 475a10139ff5f0c138aa45d272038ddb8e8813d29eb0cb086661852374765738 Mat_a2023v11n15p3390.pdf Title: Model-Based Optimization Approach for PID Control of Pitch–Roll UAV Orientation Subject: This study focuses on the modeling and control optimization of the pitch–roll angles orientation in a quad-rotor UAV (unmanned aerial vehicle) drone system. To address the control challenge, PID (proportional–integral–derivative) controllers are used, which have been tuned through a model-based optimization approach. A non-linear model of the system is obtained and further validated experimentally. The model is implemented in Simulink to conduct model-based optimization. The controller design uses an IMC (internal model control) model-based approach to establish the initial parameters for a PID controller. In the subsequent design phase, a multiobjective approach is taken, incorporating weighted cost functions that account for IAE (integral absolute error) and ITAE (integral of time-weighted absolute error) forms, along with battery usage. The outcomes of this design are showcased through simulations and real-world platform testing. Keywords: model-based optimization; multiobjective optimization; UAV system Author: Orlando Arrieta, Daniel Campos, Javier Rico-Azagra, Montserrat Gil-Martínez, José D. Rojas and Ramon Vilanova Creator: LaTeX with hyperref Producer: pdfTeX-1.40.21 CreationDate: Thu Aug 3 09:00:16 2023 CEST ModDate: Thu Aug 3 09:07:21 2023 CEST Custom Metadata: no Metadata Stream: no Tagged: no UserProperties: no Suspects: no Form: none JavaScript: no Pages: 17 Encrypted: no Page size: 595.276 x 841.89 pts (A4) Page rot: 0 File size: 2680991 bytes Optimized: no PDF version: 1.7 name type encoding emb sub uni object ID ------------------------------------ ----------------- ---------------- --- --- --- --------- SKTIZR+URWPalladioL-Bold Type 1 Custom yes yes no 10 0 TXOFEK+URWPalladioL-Roma Type 1 Custom yes yes no 15 0 UNRVOJ+URWPalladioL-Ital Type 1 Custom yes yes no 19 0 DVTHKG+TimesNewRomanPS-BoldItalicMT Type 1C WinAnsi yes yes no 37 0 IOQTUP+PazoMath-Italic Type 1 Builtin yes yes no 59 0 OAIZOH+CMSY10 Type 1 Builtin yes yes no 63 0 BBETNX+PazoMath Type 1 Builtin yes yes no 71 0 SOSTRQ+CMR10 Type 1 Builtin yes yes no 75 0 WDSTRA+SFTT1000 Type 1 Custom yes yes no 91 0 KTWDKH+CMEX10 Type 1 Builtin yes yes no 100 0 SOSTRQ+CMR10 Type 1 Custom yes yes yes 106 0 YBCRPV+CMMI7 Type 1 Custom yes yes yes 111 0 ZNALOQ+CMMI10 Type 1 Custom yes yes yes 118 0 OAIZOH+CMSY10 Type 1 Custom yes yes yes 125 0 [none] Type 3 Custom yes no no 132 0 ZEAEJX+CMR9 Type 1 Custom yes yes yes 145 0 GVKXBV+CMMI9 Type 1 Custom yes yes yes 152 0 FOPJIV+CMSY9 Type 1 Custom yes yes yes 159 0 [none] Type 3 Custom yes no no 166 0 WBRHOB+URWPalladioL-BoldItal Type 1 Custom yes yes no 193 0 HKVJQL+PazoMath-BoldItalic Type 1 Builtin yes yes no 197 0 PODINR+CMR7 Type 1 Custom yes yes yes 219 0 LWBKJM+CMMI5 Type 1 Custom yes yes yes 226 0 YBCRPV+CMMI7 Type 1 Custom yes yes yes 233 0 PXBGHL+CMSY7 Type 1 Custom yes yes yes 237 0 [none] Type 3 Custom yes no no 244 0 ZEAEJX+CMR9 Type 1 Custom yes yes yes 257 0 GVKXBV+CMMI9 Type 1 Custom yes yes yes 261 0 XYTYDI+CMMI6 Type 1 Custom yes yes yes 265 0 FOPJIV+CMSY9 Type 1 Custom yes yes yes 272 0 HVLRJR+CMBX10 Type 1 Builtin yes yes no 279 0 Jhove (Rel. 1.28.0, 2023-05-18) Date: 2024-03-14 02:36:44 CET RepresentationInformation: Mat_a2023v11n15p3390.pdf ReportingModule: PDF-hul, Rel. 1.12.4 (2023-03-16) LastModified: 2024-03-13 19:59:22 CET Size: 2680991 Format: PDF Version: 1.7 Status: Well-Formed and valid SignatureMatches: PDF-hul MIMEtype: application/pdf PDFMetadata: Objects: 486 FreeObjects: 13 IncrementalUpdates: 0 DocumentCatalog: PageLayout: SinglePage PageMode: UseNone Outlines: Item: Title: Introduction Destination: section.1 Item: Title: System Framework Destination: section.2 Children: Item: Title: Non-Linear Model of the UAV Destination: subsection.2.1 Item: Title: Simulation Model and Validation Destination: subsection.2.2 Item: Title: Control System Destination: section.3 Item: Title: Controller Design Destination: section.4 Children: Item: Title: Model Identification Destination: subsection.4.1 Item: Title: Initial IMC Controller Destination: subsection.4.2 Item: Title: Improved Optimized Controller Destination: subsection.4.3 Item: Title: Optimized Controller for the Non-Linear Model Destination: subsection.4.4 Item: Title: Implementation and Validation Results Destination: section.5 Item: Title: Conclusions Destination: section.6 Item: Title: References Destination: section.6 Info: Title: Model-Based Optimization Approach for PID Control of Pitch Roll UAV Orientation Author: Orlando Arrieta, Daniel Campos, Javier Rico-Azagra, Montserrat Gil-Martínez, José D. Rojas and Ramon Vilanova Subject: This study focuses on the modeling and control optimization of the pitch roll angles orientation in a quad-rotor UAV (unmanned aerial vehicle) drone system. To address the control challenge, PID (proportional integral derivative) controllers are used, which have been tuned through a model-based optimization approach. A non-linear model of the system is obtained and further validated experimentally. The model is implemented in Simulink to conduct model-based optimization. The controller design uses an IMC (internal model control) model-based approach to establish the initial parameters for a PID controller. In the subsequent design phase, a multiobjective approach is taken, incorporating weighted cost functions that account for IAE (integral absolute error) and ITAE (integral of time-weighted absolute error) forms, along with battery usage. The outcomes of this design are showcased through simulations and real-world platform testing. Keywords: model-based optimization; multiobjective optimization; UAV system Creator: LaTeX with hyperref Producer: pdfTeX-1.40.21 CreationDate: Thu Aug 03 09:00:16 CEST 2023 ModDate: Thu Aug 03 09:07:21 CEST 2023 ID: 0x5953c7e0cbda8a4d8fcd63c1431e45a6, 0x5953c7e0cbda8a4d8fcd63c1431e45a6 Filters: FilterPipeline: FlateDecode FilterPipeline: DCTDecode Images: Image: NisoImageMetadata: FormatName: image/jpg CompressionScheme: JPEG ImageWidth: 2456 ImageHeight: 2344 ColorSpace: RGB BitsPerSample: 8 BitsPerSampleUnit: integer Image: NisoImageMetadata: FormatName: image/jpg CompressionScheme: JPEG ImageWidth: 2000 ImageHeight: 781 ColorSpace: RGB BitsPerSample: 8 BitsPerSampleUnit: integer Fonts: Type1: Font: BaseFont: WBRHOB+URWPalladioL-BoldItal FontSubset: true FirstChar: 67 LastChar: 111 FontDescriptor: FontName: WBRHOB+URWPalladioL-BoldItal Flags: Symbolic FontBBox: -170, -300, 1073, 935 FontFile: true EncodingDictionary: Differences: true Font: BaseFont: UNRVOJ+URWPalladioL-Ital FontSubset: true FirstChar: 2 LastChar: 122 FontDescriptor: FontName: UNRVOJ+URWPalladioL-Ital Flags: Symbolic FontBBox: -170, -305, 1010, 941 FontFile: true EncodingDictionary: Differences: true Font: BaseFont: KTWDKH+CMEX10 FontSubset: true FirstChar: 2 LastChar: 115 FontDescriptor: FontName: KTWDKH+CMEX10 Flags: Symbolic FontBBox: -24, -2960, 1454, 772 FontFile: true Font: BaseFont: HKVJQL+PazoMath-BoldItalic FontSubset: true FirstChar: 102 LastChar: 113 FontDescriptor: FontName: HKVJQL+PazoMath-BoldItalic Flags: Symbolic FontBBox: -64, -272, 868, 740 FontFile: true Font: BaseFont: BBETNX+PazoMath FontSubset: true FirstChar: 71 LastChar: 71 FontDescriptor: FontName: BBETNX+PazoMath Flags: Symbolic FontBBox: -40, -283, 878, 946 FontFile: true Font: BaseFont: HVLRJR+CMBX10 FontSubset: true FirstChar: 43 LastChar: 61 FontDescriptor: FontName: HVLRJR+CMBX10 Flags: Symbolic FontBBox: -56, -250, 1164, 750 FontFile: true Font: BaseFont: SKTIZR+URWPalladioL-Bold FontSubset: true FirstChar: 3 LastChar: 237 FontDescriptor: FontName: SKTIZR+URWPalladioL-Bold Flags: Symbolic FontBBox: -152, -301, 1000, 935 FontFile: true EncodingDictionary: Differences: true Font: BaseFont: IOQTUP+PazoMath-Italic FontSubset: true FirstChar: 98 LastChar: 121 FontDescriptor: FontName: IOQTUP+PazoMath-Italic Flags: Symbolic FontBBox: -70, -277, 902, 733 FontFile: true Font: BaseFont: SOSTRQ+CMR10 FontSubset: true FirstChar: 40 LastChar: 93 FontDescriptor: FontName: SOSTRQ+CMR10 Flags: Symbolic FontBBox: -40, -250, 1009, 750 FontFile: true Font: BaseFont: WDSTRA+SFTT1000 FontSubset: true FirstChar: 65 LastChar: 121 FontDescriptor: FontName: WDSTRA+SFTT1000 Flags: Symbolic FontBBox: -208, -360, 1374, 838 FontFile: true EncodingDictionary: Differences: true Font: BaseFont: TXOFEK+URWPalladioL-Roma FontSubset: true FirstChar: 1 LastChar: 243 FontDescriptor: FontName: TXOFEK+URWPalladioL-Roma Flags: Symbolic FontBBox: -166, -283, 1021, 943 FontFile: true EncodingDictionary: Differences: true Font: BaseFont: OAIZOH+CMSY10 FontSubset: true FirstChar: 0 LastChar: 112 FontDescriptor: FontName: OAIZOH+CMSY10 Flags: Symbolic FontBBox: -29, -960, 1116, 775 FontFile: true Pages: Page: Sequence: 1 Annotations: Annotation: Subtype: Link Rect: 54, 281, 152, 290 Annotation: Subtype: Link Rect: 34, 271, 80, 278 Annotation: Subtype: Link Rect: 34, 164, 96, 186 Annotation: Subtype: Link Rect: 126, 90, 154, 99 Annotation: Subtype: Link Rect: 34, 78, 147, 87 Annotation: Subtype: Link Rect: 34, 757, 173, 793 Annotation: Subtype: Link Rect: 515, 757, 560, 793 Annotation: Subtype: Link Rect: 126, 663, 137, 676 Annotation: Subtype: Link Rect: 314, 663, 325, 676 Annotation: Subtype: Link Rect: 454, 663, 465, 676 Annotation: Subtype: Link Rect: 540, 663, 551, 676 Annotation: Subtype: Link Rect: 143, 653, 154, 664 Annotation: Subtype: Link Rect: 250, 281, 257, 290 ActionDest: 325 Annotation: Subtype: Link Rect: 317, 256, 324, 265 ActionDest: 325 Annotation: Subtype: Link Rect: 486, 243, 493, 252 ActionDest: 325 Annotation: Subtype: Link Rect: 473, 218, 480, 227 ActionDest: 325 Annotation: Subtype: Link Rect: 236, 193, 243, 202 ActionDest: 325 Annotation: Subtype: Link Rect: 246, 193, 253, 202 ActionDest: 325 Annotation: Subtype: Link Rect: 536, 168, 543, 177 ActionDest: 325 Annotation: Subtype: Link Rect: 544, 168, 556, 177 ActionDest: 325 Annotation: Subtype: Link Rect: 195, 130, 207, 139 ActionDest: 325 Annotation: Subtype: Link Rect: 208, 130, 220, 139 ActionDest: 325 Annotation: Subtype: Link Rect: 219, 105, 231, 114 ActionDest: 325 Annotation: Subtype: Link Rect: 232, 105, 244, 114 ActionDest: 325 Annotation: Subtype: Link Rect: 416, 105, 428, 114 ActionDest: 325 Annotation: Subtype: Link Rect: 272, 92, 284, 102 ActionDest: 328 Annotation: Subtype: Link Rect: 252, 80, 264, 89 ActionDest: 328 Annotation: Subtype: Link Rect: 265, 80, 277, 89 ActionDest: 328 Annotation: Subtype: Link Rect: 130, 17, 273, 28 Annotation: Subtype: Link Rect: 391, 17, 560, 28 Annotation: Subtype: Link Rect: 34, 366, 87, 385 Page: Sequence: 2 Annotations: Annotation: Subtype: Link Rect: 232, 723, 244, 732 ActionDest: 328 Annotation: Subtype: Link Rect: 247, 723, 258, 732 ActionDest: 328 Annotation: Subtype: Link Rect: 243, 710, 255, 719 ActionDest: 328 Annotation: Subtype: Link Rect: 255, 710, 267, 719 ActionDest: 328 Annotation: Subtype: Link Rect: 341, 698, 353, 707 ActionDest: 328 Annotation: Subtype: Link Rect: 482, 673, 494, 682 ActionDest: 328 Annotation: Subtype: Link Rect: 497, 673, 509, 682 ActionDest: 328 Annotation: Subtype: Link Rect: 225, 622, 237, 631 ActionDest: 328 Annotation: Subtype: Link Rect: 451, 610, 463, 619 ActionDest: 328 Annotation: Subtype: Link Rect: 364, 585, 376, 594 ActionDest: 328 Annotation: Subtype: Link Rect: 345, 431, 352, 444 ActionDest: 97 Annotation: Subtype: Link Rect: 230, 419, 237, 431 ActionDest: 181 Annotation: Subtype: Link Rect: 409, 394, 416, 406 ActionDest: 214 Annotation: Subtype: Link Rect: 553, 394, 560, 406 ActionDest: 283 Annotation: Subtype: Link Rect: 193, 334, 205, 342 ActionDest: 328 Annotation: Subtype: Link Rect: 355, 268, 362, 280 ActionDest: 67 Annotation: Subtype: Link Rect: 463, 155, 470, 167 ActionDest: 67 Page: Sequence: 3 Annotations: Annotation: Subtype: Link Rect: 364, 317, 376, 326 ActionDest: 328 Page: Sequence: 4 Annotations: Annotation: Subtype: Link Rect: 212, 231, 219, 243 ActionDest: 85 Annotation: Subtype: Link Rect: 473, 74, 480, 86 ActionDest: 85 Page: Sequence: 5 Page: Sequence: 6 Annotations: Annotation: Subtype: Link Rect: 206, 612, 213, 624 ActionDest: 88 Annotation: Subtype: Link Rect: 552, 512, 559, 524 ActionDest: 88 Annotation: Subtype: Link Rect: 411, 502, 423, 511 ActionDest: 328 Annotation: Subtype: Link Rect: 459, 499, 466, 511 ActionDest: 97 Page: Sequence: 7 Annotations: Annotation: Subtype: Link Rect: 407, 472, 414, 484 ActionDest: 97 Page: Sequence: 8 Annotations: Annotation: Subtype: Link Rect: 260, 303, 272, 312 ActionDest: 328 Annotation: Subtype: Link Rect: 409, 237, 421, 249 ActionDest: 181 Page: Sequence: 9 Annotations: Annotation: Subtype: Link Rect: 247, 539, 259, 551 ActionDest: 184 Annotation: Subtype: Link Rect: 216, 376, 228, 388 ActionDest: 184 Annotation: Subtype: Link Rect: 255, 376, 267, 388 ActionDest: 184 Annotation: Subtype: Link Rect: 420, 376, 427, 388 ActionDest: 190 Annotation: Subtype: Link Rect: 444, 364, 451, 376 ActionDest: 184 Page: Sequence: 10 Annotations: Annotation: Subtype: Link Rect: 189, 603, 201, 614 ActionDest: 190 Annotation: Subtype: Link Rect: 531, 588, 543, 603 ActionDest: 181 Annotation: Subtype: Link Rect: 399, 579, 406, 589 ActionDest: 190 Annotation: Subtype: Link Rect: 342, 552, 349, 564 ActionDest: 56 Annotation: Subtype: Link Rect: 230, 540, 241, 551 ActionDest: 181 Annotation: Subtype: Link Rect: 211, 389, 223, 401 ActionDest: 190 Annotation: Subtype: Link Rect: 350, 389, 362, 401 ActionDest: 97 Annotation: Subtype: Link Rect: 227, 276, 239, 288 ActionDest: 97 Annotation: Subtype: Link Rect: 330, 276, 337, 288 ActionDest: 190 Annotation: Subtype: Link Rect: 552, 110, 559, 122 ActionDest: 190 Annotation: Subtype: Link Rect: 305, 98, 312, 110 ActionDest: 201 Annotation: Subtype: Link Rect: 441, 85, 448, 97 ActionDest: 201 Annotation: Subtype: Link Rect: 253, 72, 265, 85 ActionDest: 181 Annotation: Subtype: Link Rect: 283, 72, 295, 85 ActionDest: 181 Page: Sequence: 11 Annotations: Annotation: Subtype: Link Rect: 190, 298, 197, 310 ActionDest: 190 Annotation: Subtype: Link Rect: 527, 298, 534, 310 ActionDest: 190 Annotation: Subtype: Link Rect: 253, 273, 265, 285 ActionDest: 181 Annotation: Subtype: Link Rect: 211, 260, 223, 272 ActionDest: 181 Annotation: Subtype: Link Rect: 312, 260, 319, 272 ActionDest: 201 Annotation: Subtype: Link Rect: 278, 107, 284, 119 ActionDest: 201 Annotation: Subtype: Link Rect: 371, 107, 378, 119 ActionDest: 208 Annotation: Subtype: Link Rect: 231, 97, 238, 106 ActionDest: 208 Page: Sequence: 12 Annotations: Annotation: Subtype: Link Rect: 505, 720, 512, 732 ActionDest: 85 Annotation: Subtype: Link Rect: 308, 707, 315, 720 ActionDest: 208 Annotation: Subtype: Link Rect: 241, 647, 248, 657 ActionDest: 201 Annotation: Subtype: Link Rect: 267, 647, 274, 657 ActionDest: 208 Annotation: Subtype: Link Rect: 546, 298, 557, 310 ActionDest: 181 Annotation: Subtype: Link Rect: 266, 285, 278, 297 ActionDest: 181 Annotation: Subtype: Link Rect: 460, 273, 467, 285 ActionDest: 56 Annotation: Subtype: Link Rect: 254, 260, 261, 272 ActionDest: 201 Annotation: Subtype: Link Rect: 234, 238, 241, 247 ActionDest: 208 Annotation: Subtype: Link Rect: 316, 107, 323, 119 ActionDest: 97 Annotation: Subtype: Link Rect: 472, 107, 478, 119 ActionDest: 208 Annotation: Subtype: Link Rect: 484, 94, 491, 106 ActionDest: 88 Annotation: Subtype: Link Rect: 195, 82, 202, 94 ActionDest: 214 Annotation: Subtype: Link Rect: 342, 69, 349, 81 ActionDest: 214 Page: Sequence: 13 Annotations: Annotation: Subtype: Link Rect: 526, 710, 533, 720 ActionDest: 208 Annotation: Subtype: Link Rect: 552, 710, 559, 720 ActionDest: 214 Annotation: Subtype: Link Rect: 362, 269, 377, 281 ActionDest: 208 Annotation: Subtype: Link Rect: 405, 246, 417, 255 ActionDest: 328 Annotation: Subtype: Link Rect: 213, 168, 225, 180 ActionDest: 276 Annotation: Subtype: Link Rect: 326, 143, 338, 155 ActionDest: 283 Annotation: Subtype: Link Rect: 179, 108, 191, 117 ActionDest: 328 Page: Sequence: 14 Annotations: Annotation: Subtype: Link Rect: 440, 434, 452, 446 ActionDest: 276 Annotation: Subtype: Link Rect: 355, 363, 367, 375 ActionDest: 276 Page: Sequence: 15 Page: Sequence: 16 Annotations: Annotation: Subtype: Link Rect: 172, 417, 209, 427 Annotation: Subtype: Link Rect: 156, 393, 194, 404 Annotation: Subtype: Link Rect: 257, 370, 295, 381 Annotation: Subtype: Link Rect: 86, 337, 124, 347 Annotation: Subtype: Link Rect: 312, 313, 350, 324 Annotation: Subtype: Link Rect: 59, 291, 96, 301 Annotation: Subtype: Link Rect: 358, 267, 396, 278 Annotation: Subtype: Link Rect: 184, 244, 222, 255 Annotation: Subtype: Link Rect: 245, 221, 283, 232 Annotation: Subtype: Link Rect: 197, 186, 235, 197 Annotation: Subtype: Link Rect: 113, 164, 150, 174 Annotation: Subtype: Link Rect: 442, 140, 480, 151 Annotation: Subtype: Link Rect: 243, 117, 281, 128 Annotation: Subtype: Link Rect: 316, 94, 353, 105 Annotation: Subtype: Link Rect: 454, 71, 491, 82 Page: Sequence: 17 Annotations: Annotation: Subtype: Link Rect: 152, 722, 189, 733 Annotation: Subtype: Link Rect: 284, 699, 322, 710 Annotation: Subtype: Link Rect: 144, 676, 182, 687 Annotation: Subtype: Link Rect: 293, 652, 331, 664 Annotation: Subtype: Link Rect: 203, 596, 240, 606 Annotation: Subtype: Link Rect: 444, 572, 482, 583 Annotation: Subtype: Link Rect: 111, 537, 148, 548 Annotation: Subtype: Link Rect: 410, 514, 447, 525 Annotation: Subtype: Link Rect: 208, 491, 245, 502 Annotation: Subtype: Link Rect: 280, 468, 317, 479 Annotation: Subtype: Link Rect: 480, 445, 518, 456 Annotation: Subtype: Link Rect: 216, 422, 254, 433 Annotation: Subtype: Link Rect: 197, 400, 235, 410 Annotation: Subtype: Link Rect: 303, 376, 560, 387 Checksum: 7fe87526 Type: CRC32 Checksum: 8bfccbe436e18fb9f5d41c4daea2aa82 Type: MD5 Checksum: c85e568bdffce8c9f74599a190c0fffa05b8154a Type: SHA-1 Checksum: 475a10139ff5f0c138aa45d272038ddb8e8813d29eb0cb086661852374765738 Type: SHA-256