Title :
PID & LQR control for a quadrotor: Modeling and simulation
Author :
Khatoon, Shahida ; Gupta, Deepika ; Das, L.K.
Author_Institution :
Fac. of Eng., Dept. of Electr. Eng., Jamia Millia Islamia, New Delhi, India
Abstract :
This paper aims to present a comparison between various controllers to be used in dynamic model of a quadrotor platform. The controllers assumed in this work are conventional PID and a classic LQR controller. The PID controller is chosen for quadrotor model because of its versatility and facile implementation, while also providing a good response for the model dynamics attitudes. The LQR controller seemed to be a good comparative controller due to its great performance and robustness in the plant. In this study, it is accomplished that both the controllers provide satisfactory feedback for quadrotor stabilization.
Keywords :
attitude control; autonomous aerial vehicles; linear quadratic control; robot dynamics; stability; three-term control; LQR control; PID control; linear quadratic control; model dynamics attitudes; proportional-integral-derivative control; quadrotor platform; quadrotor stabilization; Closed loop systems; Differential equations; Equations; Mathematical model; Rotors; Vehicle dynamics; Vehicles; LQR; PID; Pitching; Quad rotor; Rolling; Yawing;
Conference_Titel :
Advances in Computing, Communications and Informatics (ICACCI, 2014 International Conference on
Conference_Location :
New Delhi
Print_ISBN :
978-1-4799-3078-4
DOI :
10.1109/ICACCI.2014.6968232