Event-Based PID Control: Application to a Mini Quadrotor Helicopter

Sylvain Durand (1) , Bruno Boisseau (2) , Nicolas Marchand (2) , Jose-Fermi Guerrero-Castellanos (3)

1 ICube - Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie
2 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité
3 FCE BUAP - Facultad de Ciencias de la Electrónica [Puebla]

Although periodicity simplifies design and analysis in control theory, it is no more adapted for embedded systems because it results in a conservative usage of resources. Indeed, the control signal is computed and updated at the same rate regardless whether is really required or not. On the other hand, event-driven sampling calls for resources whenever they are indeed necessary. Event-based PID controllers are proposed in this paper as an alternative to classical PID approaches, with the same performance but reducing the control updates. The algorithms are built here without safety limit condition contrary to the seminal event-based PID setup that was originally proposed byÅrzénbyÅrzén (1999), in order to reduce the periodicity even more. Both integral and derivative terms are considered. The different approaches are tested for controlling the position of a real-time mini quadrotor helicopter. A reduction of the computing and communication resources utilization is demonstrated for similar final performance.

Mots clés: PID control; Event-based control; mini quadrotor helicopter

Domaines: Automatique; Automatique / Robotique

Sylvain Durand, Bruno Boisseau, Nicolas Marchand, Jose-Fermi Guerrero-Castellanos. Event-Based PID Control: Application to a Mini Quadrotor Helicopter. Journal of Control Engineering and Applied Informatics, 2018, 20 (1), pp.36-47. ⟨hal-01722845⟩