PID, LQR and LQR-PID on a quadcopter platform

This paper aims to present a comparison between different controllers to be used in a dynamic model of a quadcopter platform. The controllers assumed in this work are an ITAE tuned PID, a classic LQR controller and a PID tuned with a LQR loop. The results were obtained through simulations for 10 different attitudes of the quadcopter, however, in this paper simulation results will be presented for the vertical attitude only (the remainder are analogous and were omitted for brevity).

[1]  Katsuhiko Ogata,et al.  Modern Control Engineering , 1970 .

[2]  S. Mukhopadhyay.  P.I.D. equivalent of optimal regulator , 1978 .

[3]  Naresh K. Sinha,et al.  Modern Control Systems , 1981, IEEE Transactions on Systems, Man, and Cybernetics.

[4]  N. Nichols,et al.  Robust pole assignment in linear state feedback , 1985 .

[5]  Charles L. Phillips,et al.  Basic Feedback Control Systems , 1991 .

[6]  Gaurav S. Sukhatme,et al.  State estimation of an autonomous helicopter using Kalman filtering , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[7]  Roland Siegwart,et al.  PID vs LQ control techniques applied to an indoor micro quadrotor , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[8]  Abdelaziz Benallegue,et al.  Backstepping Control for a Quadrotor Helicopter , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[9]  J. Escareno,et al.  Embedded control of a four-rotor UAV , 2006, 2006 American Control Conference.

[10]  P. Gaspar,et al.  Control of an experimental mini quad-rotor UAV , 2008, 2008 16th Mediterranean Conference on Control and Automation.

[11]  G. Raffo,et al.  An integral predictive / nonlinear H ∞ control structure for a quadrotor helicopter , 2009 .

[12]  Mahmoud Moghavvemi,et al.  Flight PID controller design for a UAV quadrotor , 2010 .

[13]  Tomáš Jiřinec,et al.  Stabilization and Control of Unmanned Quadcopter , 2011 .