Title :
PID, LQR and LQR-PID on a quadcopter platform
Author :
Argentim, Lucas M. ; Rezende, Willian C. ; Santos, Paulo E. ; Aguiar, Renato A.
Abstract :
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).
Keywords :
autonomous aerial vehicles; linear quadratic control; robot dynamics; three-term control; ITAE tuned PID; LQR loop; LQR-PID; classic LQR controller; quadcopter platform dynamic model; unmanned aerial vehicles; vertical attitude; Aerospace electronics; Attitude control; Equations; Mathematical model; Transfer functions; Tuning; Vehicle dynamics;
Conference_Titel :
Informatics, Electronics & Vision (ICIEV), 2013 International Conference on
Conference_Location :
Dhaka
Print_ISBN :
978-1-4799-0397-9
DOI :
10.1109/ICIEV.2013.6572698
