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Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach

Ayaz Ahmed Hoshu Orcid Logo, Ghulam E Mustafa Abro Orcid Logo, Musaed Alhussein Orcid Logo, Irfan Ali Tunio Orcid Logo, Khursheed Aurangzeb Orcid Logo, Anwar Ali Orcid Logo

International Journal of Aerospace Engineering, Volume: 2023, Pages: 1 - 10

Swansea University Author: Anwar Ali Orcid Logo

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DOI (Published version): 10.1155/2023/6651286

Abstract

Due to their enormous characteristics and applicability, quadrotor unmanned aerial vehicles (UAVs) have enjoyed much popularity lately. However, designing a stable control strategy for quadrotors still remains one of the major concerns mainly due to the requirement of an accurate system model. They...

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Published in: International Journal of Aerospace Engineering
ISSN: 1687-5966 1687-5974
Published: Wiley 2023
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URI: https://cronfa.swan.ac.uk/Record/cronfa70058
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last_indexed 2025-08-14T05:39:44Z
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spelling 2025-08-13T16:03:56.0312228 v2 70058 2025-07-30 Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach f206105e1de57bebba0fd04fe9870779 0000-0001-7366-9002 Anwar Ali Anwar Ali true false 2025-07-30 ACEM Due to their enormous characteristics and applicability, quadrotor unmanned aerial vehicles (UAVs) have enjoyed much popularity lately. However, designing a stable control strategy for quadrotors still remains one of the major concerns mainly due to the requirement of an accurate system model. They are naturally underactuated systems, with complex and nonlinear dynamics as well as interaxes couplings. Considering the dynamical complexities of these vehicles, one of the efficient methods is to utilize the relay feedback experiments and automatic tuning approach to tackle these issues. This paper investigates the employment of the relay with embedded integrator approach, wherein the quadrotor dynamics are estimated effectively with minimal parameters as compared to previously utilized relay with hysteresis technique. Frequency sampling filter (FSF) is further utilized for the extraction of the needful data through the signals obtained using the relay experiments, followed by the estimation of the plant dynamics. PID controllers have then been developed using the approximated quadrotor models. Which are used in the proposed cascade control structure for the quadrotor. The demonstrated results and analysis present the efficacy of designed control system technique for the quadrotor UAV. Journal Article International Journal of Aerospace Engineering 2023 1 10 Wiley 1687-5966 1687-5974 10 10 2023 2023-10-10 10.1155/2023/6651286 COLLEGE NANME Aerospace, Civil, Electrical, and Mechanical Engineering COLLEGE CODE ACEM Swansea University Another institution paid the OA fee This research is funded by the Researchers Supporting Project Number (RSPD2023R947), King Saud University, Riyadh, Saudi Arabia. 2025-08-13T16:03:56.0312228 2025-07-30T13:01:29.1705875 Faculty of Science and Engineering School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Electronic and Electrical Engineering Ayaz Ahmed Hoshu 0000-0003-2882-7483 1 Ghulam E Mustafa Abro 0000-0003-1874-1889 2 Musaed Alhussein 0000-0002-5538-6778 3 Irfan Ali Tunio 0000-0003-0299-7572 4 Khursheed Aurangzeb 0000-0003-3647-8578 5 Anwar Ali 0000-0001-7366-9002 6 70058__34871__e6047fba111943218c67546b036cb4fb.pdf 70058.pdf 2025-07-30T13:06:18.2490776 Output 1238964 application/pdf Version of Record true © 2023 Ayaz Ahmed Hoshu et al. This is an open access article distributed under the Creative Commons Attribution License. true eng https://creativecommons.org/licenses/by/4.0/
title Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach
spellingShingle Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach
Anwar Ali
title_short Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach
title_full Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach
title_fullStr Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach
title_full_unstemmed Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach
title_sort Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach
author_id_str_mv f206105e1de57bebba0fd04fe9870779
author_id_fullname_str_mv f206105e1de57bebba0fd04fe9870779_***_Anwar Ali
author Anwar Ali
author2 Ayaz Ahmed Hoshu
Ghulam E Mustafa Abro
Musaed Alhussein
Irfan Ali Tunio
Khursheed Aurangzeb
Anwar Ali
format Journal article
container_title International Journal of Aerospace Engineering
container_volume 2023
container_start_page 1
publishDate 2023
institution Swansea University
issn 1687-5966
1687-5974
doi_str_mv 10.1155/2023/6651286
publisher Wiley
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Electronic and Electrical Engineering{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Electronic and Electrical Engineering
document_store_str 1
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description Due to their enormous characteristics and applicability, quadrotor unmanned aerial vehicles (UAVs) have enjoyed much popularity lately. However, designing a stable control strategy for quadrotors still remains one of the major concerns mainly due to the requirement of an accurate system model. They are naturally underactuated systems, with complex and nonlinear dynamics as well as interaxes couplings. Considering the dynamical complexities of these vehicles, one of the efficient methods is to utilize the relay feedback experiments and automatic tuning approach to tackle these issues. This paper investigates the employment of the relay with embedded integrator approach, wherein the quadrotor dynamics are estimated effectively with minimal parameters as compared to previously utilized relay with hysteresis technique. Frequency sampling filter (FSF) is further utilized for the extraction of the needful data through the signals obtained using the relay experiments, followed by the estimation of the plant dynamics. PID controllers have then been developed using the approximated quadrotor models. Which are used in the proposed cascade control structure for the quadrotor. The demonstrated results and analysis present the efficacy of designed control system technique for the quadrotor UAV.
published_date 2023-10-10T05:25:08Z
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score 11.089572

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