Implementation of a Novel Optimal PID Methods in UAV Applications

Shamma Bin Safwan, Fatima Alkhoori, Yahya Zweiri, M. Necip Sahinkaya

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

In this paper, a novel analytical tuning methodology for PID gains, based on Linear Quadratic Regulator (LQR) optimal control, for linear systems is developed. The proposed methodology uses once LQR in order to obtain different PID configurations (P, PI, PD, PID). The effectiveness and the applicability of the proposed methodology are demonstrated under different control scenarios in simulation using a quad-copter Unmanned Aerial Vehicle (UAV). The results of this methodology show good control response measures. Moreover, the computational time of (lqr) Matlab built-in function is compared against Riccati solution using invariant subspace approach. The later requires less computational time.

Original languageBritish English
Title of host publicationICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages256-261
Number of pages6
ISBN (Electronic)9781538670668
DOIs
StatePublished - 11 Jan 2019
Event3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018 - Singapore, Singapore
Duration: 18 Jul 201820 Jul 2018

Publication series

NameICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics

Conference

Conference3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018
Country/TerritorySingapore
CitySingapore
Period18/07/1820/07/18

Keywords

  • LQR
  • optimal PID
  • quad-copter
  • Riccati

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