eprintid: 19080 rev_number: 2 eprint_status: archive userid: 1 dir: disk0/00/01/90/80 datestamp: 2024-06-04 14:11:31 lastmod: 2024-06-04 14:11:31 status_changed: 2024-06-04 14:04:48 type: article metadata_visibility: show creators_name: Hoshu, A.A. creators_name: Mustafa Abro, G.E. creators_name: Alhussein, M. creators_name: Tunio, I.A. creators_name: Aurangzeb, K. creators_name: Ali, A. title: Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach ispublished: pub keywords: Cascade control systems; Dynamics; Frequency estimation; Relay control systems; Three term control systems; Tuning; Unmanned aerial vehicles (UAV), A-stable; Automatic tuning; Cascaded controls; Control strategies; Control system designs; Quad rotors; Quadrotor unmanned aerial vehicles; Stable control; System models; Under-actuated systems, Antennas note: cited By 0 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 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. © 2023 Ayaz Ahmed Hoshu et al. date: 2023 publisher: Hindawi Limited official_url: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85175329620&doi=10.1155%2f2023%2f6651286&partnerID=40&md5=20fa46e9ccbf329148e21f564485515a id_number: 10.1155/2023/6651286 full_text_status: none publication: International Journal of Aerospace Engineering volume: 2023 refereed: TRUE issn: 16875966 citation: Hoshu, A.A. and Mustafa Abro, G.E. and Alhussein, M. and Tunio, I.A. and Aurangzeb, K. and Ali, A. (2023) Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach. International Journal of Aerospace Engineering, 2023. ISSN 16875966