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A block diagram of a PID controller The PID controller calculation (algorithm) involves three separate parameters; the proportional, the integral and derivative values.
The FFC provides control based on the interaction forces and torques acting at the follower UAV due to leader UAVs motion.
Two control schemes are implemented to develop this FFC.
Barawkar, Shraddha "Collaborative Transportation of a Common Payload using Two UAVs Based on Force Feedback Control." Electronic Thesis or Dissertation.
, PMIgor Artemtšuk "Robust PID Controller Design for Continuous-time Systems via Reduced Routh Parameters"Supervisor: Prof.
A proportional–integral–derivative controller (PID controller) is a generic control loop feedback mechanism (controller) widely used in industrial control systems.
A PID controller attempts to correct the error between a measured process variable and a desired set point by calculating and then outputting a corrective action that can adjust the process accordingly and rapidly, to keep the error minimal.Such control schemes have been shown in literature to work e?ectively in indoor environments using reliable and accurate positional information obtained from motion tracking cameras.A PID controller will be called a PI, PD, P or I controller in the absence of the respective control actions.PI controllers are particularly common, since derivative action is very sensitive to measurement noise, and the absence of an integral value may prevent the system from reaching its target value due to the control action.However, from a control perspective, physical interactions between the UAVs and the payload during collaborative transportation present challenges in terms of stability and accurate trajectory tracking.In this paper, a leader-follower approach is implemented.Note: Due to the diversity of the field of control theory and application, many naming conventions for the relevant variables are in common use.A familiar example of a control loop is the action taken to keep one's shower water at the ideal temperature, which typically involves the mixing of two process streams, cold and hot water.Some applications may require using only one or two modes to provide the appropriate system control.This is achieved by setting the gain of undesired control outputs to zero.