@Article{cmes.2020.010741,
AUTHOR = {Ivan Paulo Canal, Manuel Martin Pérez Reimbold, Maurício de Campos},
TITLE = {Ziegler–Nichols Customization for Quadrotor Attitude Control under Empty and Full Loading Conditions},
JOURNAL = {Computer Modeling in Engineering \& Sciences},
VOLUME = {125},
YEAR = {2020},
NUMBER = {1},
PAGES = {65--75},
URL = {http://www.techscience.com/CMES/v125n1/40211},
ISSN = {1526-1506},
ABSTRACT = {An aircraft quadrotor is a complex control system that allows for great
flexibility in flight. Controlling multirotor aerial systems such as quadrotors is
complex because the variables involved are not always available, known, and
accurate. The inclusion of payload changes the dynamic characteristics of the aircraft, making it necessary to adapt the control system for this situation. Among
the various control methods that have been investigated, proportional-integralderivative (PID) control offers good results and simplicity of application; however, achieving stability and high performance is challenging, with the most
critical task being tuning the controller gains. The Ziegler–Nichols (ZN) theory
was used to tune the controller gains for pitch and roll attitude command; however, the performance results were not satisfactory. The response of this system
was refined, resulting in an improvement in the reference tracking and the rejection of disturbances. This particular refinement was applied to the quadrotor, and
via a reverse calculation, the parameters that allow the tuning of PID gains were
obtained, based on ZN. The particularization of the ZN theory applied to a quadrotor with and without a load (termed ZNAQ and ZNAQL, respectively) is proposed and results in a significant improvement in the control system response
performance (up to 75%), demonstrating that ZNAQ and ZNAQL are valid
for tuning the controller PID gains and are more efficient than the original
ZN theory approach.},
DOI = {10.32604/cmes.2020.010741}
}