I am new to the field of control systems, PID and robotics and I want to enhance my knowledge in the field. Can you recommend me books where I can start learning about control system engineering (with mathematical and practical examples) so I can finally finish my project. (I am working on quad copter and I can find all codes online but can't understand it because some people here told me that I should start reading on these subjects first).
I can see two parts to this question!
You need to learn the math needed to develop such control systems in an advance manner.
- Look for Author: Norman S. Nice - Control Systems Engineering. Sixth Edition I found this PDF online and was used in my course.
the programming skills needed to convert this math into a usable system.
Warning - Controlling a quadcopter is not beginner level task and requires at the least.
- Good calibration and a Kaman filter on the accelerometer(acc) data.
- The ability to transpose the the filtered acc data to a real world coordinate frame.
- Power algorithm to determine the needed PWM output at a given motor to achieve flight.
- PID control that uses the filtered acc data to determine error between set-point and actual data.
- A good PID tune to make the system function as intended.
- Programming skills in data manipulation and math.
Assuming you would be using Arduino or C/C++ you could simply google "quad*copter PID Arduino" and you would get 100's of matches.
Making advanced projects with PID control is easy. At first, a uav-testbed is needed. This consists of two UAVs at the same time. The left UAV is controlled by the human operator with a joystick. And the right UAV is controlled by the pid-tracking controller. The idea is, that the pid-controller follows the human-demonstration in realtime and reduces the error. Such a set-up results not to the Artificial Intelligence itself, but it is only a development platform for testing out different kinds of pid-controllers. A more advanced form is model-predictive control, in which the error between the demonstration and the autonomous controlled vehicle is reduced by a dedicated model which can be a physics-engine, a transfer function or a neural network.
Finding good books about the topic is indeed a problem. I can only provide a link to paper which is not very useful Real-Time Predictive Control of an UR5 Robotic Arm Through Human Upper Limb Motion Tracking because it has nothing to do with UAV control. Another problematic source Designing Interactive Blimps as Puppets is unscientific because it is from the area of animatronics.