RT journal article
T1 MIMO PID Controller Tuning Method for Quadrotor Based on LQR/LQG Theory
A1 Guardeño Ramírez, Rafael
A1 López Sánchez, Manuel Jesús
A1 Sánchez Corbacho, Victor Manuel
A2 Ingeniería de Sistemas y AutomáticaTecnología Electrónica y Electrónica
K1 PID tuning
K1 LQR
K1 LQG
K1 sensors data fusion
K1 quadrotor mathematical model
K1 Kalman filter
K1 MARG
K1 robustness analysis
AB In this work, a new pre-tuning multivariable PID (Proportional Integral Derivative)controllers method for quadrotors is put forward. A procedure based on LQR/LQG (Linear QuadraticRegulator/Gaussian) theory is proposed for attitude and altitude control, which suposes a considerablesimplification of the design problem due to only one pretuning parameter being used. With the aim toanalyze the performance and robustness of the proposed method, a non-linear mathematical model ofthe DJI-F450 quadrotor is employed, where rotors dynamics, together with sensors drift/bias propertiesand noise characteristics of low-cost commercial sensors typically used in this type of applications areconsidered. In order to estimate the state vector and compensate bias/drift effects in the measures,a combination of filtering and data fusion algorithms (Kalman filter and Madgwick algorithm for attitudeestimation) are proposed and implemented. Performance and robustness analysis of the control systemis carried out by employing numerical simulations, which take into account the presence of uncertaintyin the plant model and external disturbances. The obtained results show the proposed controller designmethod for multivariable PID controller is robust with respect to: (a) parametric uncertainty in the plantmodel, (b) disturbances acting at the plant input, (c) sensors measurement and estimation errors.
PB MDPI
SN 2218-6581
YR 2019
FD 2019-06
LK http://hdl.handle.net/10498/21662
UL http://hdl.handle.net/10498/21662
LA eng
DS Repositorio Institucional de la Universidad de Cádiz
RD 10-may-2026