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http://dx.doi.org/10.5139/JKSAS.2011.39.7.618

Tight Path Following PID Controller for a Vehicle with Time Delay  

Rhee, Ihn-Seok (한국기술교육대학교 메카트로닉스공학부)
Park, Sang-Hyuk (인하대학교 항공우주공학과)
Lee, Kyoung-Ho (인하대학교 항공우주공학과)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.39, no.7, 2011 , pp. 618-626 More about this Journal
Abstract
In order to complete missions in a complicated terrain or highly dangerous area, an unmanned aerial vehicle(UAV) needs a fine controller to precisely follow the desired path. A PID controller used for the path following feeds forward path curvature information to the control input to improve the path following performance. High gain for PID controller is necessary to follow path tightly. However the high gain could cause instability or performance degradation when the vehicle has slow dynamics. We present PID controller design method which considers response delay of vehicle as well as path curvature. In order to obtain path curvature the desired path is described as a 3rd order polynomial by applying cubic spline interpolation. We apply the proposed controller to the path following of a UAV which is operated in high altitude and has very slow lateral dynamics. The lateral dynamics are modelled as a first order delayed system in the controller design. Nonlinear simulation shows the UAV with proposed controller follows an arbitrary path very tightly.
Keywords
PID controller; Feed-forward control; Path following; Response delay;
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