PID-LQR controllers for quad-rotor hovering mode

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

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

10 Scopus citations

Abstract

PID controller is the most common control method used in many industrial applications, and tuning of the PID gains is still an active research area despite the availability of different tuning methods in the literature. This paper aims to demonstrate a comparison between two different PID tuning methods which are based on full state feedback Linear Quadratic Regulator (LQR). The two PID tuning methods are implemented for hovering flying mode of quad-rotor model, other flying modes are comparable therefore they are omitted in this paper. The simulation tests were conducted using different PID configurations. The results show that the second method outperforms the first method in term of ease of application, performance and computational time.

Original languageBritish English
Title of host publication2017 4th International Conference on Systems and Informatics, ICSAI 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages50-54
Number of pages5
ISBN (Electronic)9781538611074
DOIs
StatePublished - 28 Jun 2017
Event4th International Conference on Systems and Informatics, ICSAI 2017 - Hangzhou, China
Duration: 11 Nov 201713 Nov 2017

Publication series

Name2017 4th International Conference on Systems and Informatics, ICSAI 2017
Volume2018-January

Conference

Conference4th International Conference on Systems and Informatics, ICSAI 2017
Country/TerritoryChina
CityHangzhou
Period11/11/1713/11/17

Keywords

  • LQR
  • PID
  • quad-rotor
  • tuning

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