Title: Hybrid multi control for better drone stability

Authors: Wassim Arfa; Chiraz Ben Jabeur; Yassine Faleh; Hassene Seddik

Addresses: Research Laboratory RIFTSI (Robotique Intelligente, Fiabilité et Traitement du Signal et d'Images), Ecole Nationale d'Ingénieurs de Carthage, University of Carthage, 45 Rue des Entrepreneurs 2035 Charguia II Tunis-Carthage, Tunisia ' Research Laboratory RIFTSI (Robotique Intelligente, Fiabilité et Traitement du Signal et d'Images), Institut Supérieur d'Informatique, University of Tunis EL Manar, 2 Rue Abou Raihane Bayrouni 2080 l'Ariana, Tunisia ' Research Laboratory RIFTSI (Robotique Intelligente, Fiabilité et Traitement du Signal et d'Images), Ecole Nationale Supérieur d'Ingénieurs de Tunis, University of Tunis, 05 Ave Taha Hussein, Tunis 1008, Tunisia ' Research Laboratory RIFTSI (Robotique Intelligente, Fiabilité et Traitement du Signal et d'Images), Ecole Nationale Supérieur d'Ingénieurs de Tunis, University of Tunis, 05 Ave Taha Hussein, Tunis 1008, Tunisia

Abstract: This study posits that the PID controller, designed to uphold drone stability, encounters a timing issue that warrants further tuning and enhancement. The study conducts a performance evaluation of PID controller gains for drone angle control, with the objective of optimising them to bolster the drone's speed, accuracy, and stability. To achieve this objective, a PID flight controller is proposed to manage the altitude dynamics of a UAV. The study's methodology primarily involves a comparative analysis across three levels: initially utilising a single PID controller for all three angles, then employing two PID controllers for all three angles where one manages pitch and roll angles while the other handles yaw angle, and finally implementing three PID sub-controllers for each angle (pitch, roll, and yaw). The comparative analysis aims to pinpoint the most effective PID controller configuration that enhances stability, responsiveness, and accuracy during flight. In comparison to prior research, the suggested adaptive PID flight controller showcases innovation and efficacy in the field.

Keywords: PID controller; drone; angle control; optimisation; simulation; stability.

DOI: 10.1504/IJMIC.2024.142263

International Journal of Modelling, Identification and Control, 2024 Vol.45 No.2/3, pp.164 - 177

Received: 30 Oct 2023
Accepted: 03 Apr 2024
Published online: 16 Oct 2024 *

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