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Asymmetrical Artificial Potential Field as Framework of Nonlinear PID Loop to Control Position Tracking by Nonholonomic UAVs
Precise position tracking plays a key role in formation flights of UAVs (unmanned aerial vehicles) or other applications based on the idea of the leader–following scheme. It decides on the integrity of a formation or increasing the position error when a UAV follows the desired flight path. This is e...
Autores principales: | , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2022
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9332544/ https://www.ncbi.nlm.nih.gov/pubmed/35897978 http://dx.doi.org/10.3390/s22155474 |
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author | Kownacki, Cezary Ambroziak, Leszek |
author_facet | Kownacki, Cezary Ambroziak, Leszek |
author_sort | Kownacki, Cezary |
collection | PubMed |
description | Precise position tracking plays a key role in formation flights of UAVs (unmanned aerial vehicles) or other applications based on the idea of the leader–following scheme. It decides on the integrity of a formation or increasing the position error when a UAV follows the desired flight path. This is especially difficult in the case of nonholonomic vehicles having limited possibilities of making turns, causing a lack of stability. An asymmetrical artificial potential field (AAPF) is the way to achieve the stability of position tracking by nonholonomic UAVs, but it is only a nonlinear proportional relation to feedback given by a tracking error. Therefore, there can still be a steady-state error or error overshoots. Combining an AAPF with integral and derivative terms can improve the response of control by damping overshoots and minimizing the steady-state error. Such a combination results in a regulator whose properties allow defining it as nonlinear PID. Numerical simulation confirms that integral and derivative terms together with an AAPF create a control loop that can minimize overshoots of the tracking error and the steady-state error and satisfy conditions of asymptotical stability. |
format | Online Article Text |
id | pubmed-9332544 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-93325442022-07-29 Asymmetrical Artificial Potential Field as Framework of Nonlinear PID Loop to Control Position Tracking by Nonholonomic UAVs Kownacki, Cezary Ambroziak, Leszek Sensors (Basel) Article Precise position tracking plays a key role in formation flights of UAVs (unmanned aerial vehicles) or other applications based on the idea of the leader–following scheme. It decides on the integrity of a formation or increasing the position error when a UAV follows the desired flight path. This is especially difficult in the case of nonholonomic vehicles having limited possibilities of making turns, causing a lack of stability. An asymmetrical artificial potential field (AAPF) is the way to achieve the stability of position tracking by nonholonomic UAVs, but it is only a nonlinear proportional relation to feedback given by a tracking error. Therefore, there can still be a steady-state error or error overshoots. Combining an AAPF with integral and derivative terms can improve the response of control by damping overshoots and minimizing the steady-state error. Such a combination results in a regulator whose properties allow defining it as nonlinear PID. Numerical simulation confirms that integral and derivative terms together with an AAPF create a control loop that can minimize overshoots of the tracking error and the steady-state error and satisfy conditions of asymptotical stability. MDPI 2022-07-22 /pmc/articles/PMC9332544/ /pubmed/35897978 http://dx.doi.org/10.3390/s22155474 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Kownacki, Cezary Ambroziak, Leszek Asymmetrical Artificial Potential Field as Framework of Nonlinear PID Loop to Control Position Tracking by Nonholonomic UAVs |
title | Asymmetrical Artificial Potential Field as Framework of Nonlinear PID Loop to Control Position Tracking by Nonholonomic UAVs |
title_full | Asymmetrical Artificial Potential Field as Framework of Nonlinear PID Loop to Control Position Tracking by Nonholonomic UAVs |
title_fullStr | Asymmetrical Artificial Potential Field as Framework of Nonlinear PID Loop to Control Position Tracking by Nonholonomic UAVs |
title_full_unstemmed | Asymmetrical Artificial Potential Field as Framework of Nonlinear PID Loop to Control Position Tracking by Nonholonomic UAVs |
title_short | Asymmetrical Artificial Potential Field as Framework of Nonlinear PID Loop to Control Position Tracking by Nonholonomic UAVs |
title_sort | asymmetrical artificial potential field as framework of nonlinear pid loop to control position tracking by nonholonomic uavs |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9332544/ https://www.ncbi.nlm.nih.gov/pubmed/35897978 http://dx.doi.org/10.3390/s22155474 |
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