DocumentCode
627344
Title
PID, LQR and LQR-PID on a quadcopter platform
Author
Argentim, Lucas M. ; Rezende, Willian C. ; Santos, Paulo E. ; Aguiar, Renato A.
fYear
2013
fDate
17-18 May 2013
Firstpage
1
Lastpage
6
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Informatics, Electronics & Vision (ICIEV), 2013 International Conference on
Conference_Location
Dhaka
Print_ISBN
978-1-4799-0397-9
Type
conf
DOI
10.1109/ICIEV.2013.6572698
Filename
6572698
Link To Document