PID, LQR and LQR-PID on a quadcopter platform
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154
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2013-05-17
Autores
AGENTIM, L. M.
REZENDE, W. C.
Paulo Santos
Renato Aguiar
REZENDE, W. C.
Paulo Santos
Renato Aguiar
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Periódico
2013 International Conference on Informatics, Electronics and Vision, ICIEV 2013
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AGENTIM, L. M.; REZENDE, W. C.; SANTOS, P. E.; AGUIAR, R. A. PID, LQR and LQR-PID on a quadcopter platform. 2013 International Conference on Informatics, Electronics and Vision, ICIEV 2013, Mayo, 2013.
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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). © 2013 IEEE.