PID, LQR and LQR-PID on a quadcopter platform

Lucas M. Argentim, Willian C. Rezende, Paulo E. Santos, Renato A. Aguiar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

75 Citations (Scopus)

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).

Original languageEnglish
Title of host publication2013 International Conference on Informatics, Electronics and Vision (ICIEV)
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic) 978-1-4799-0400-6
ISBN (Print)978-1-4799-0397-9
DOIs
Publication statusPublished - 1 Aug 2013
Externally publishedYes
Event2013 2nd International Conference on Informatics, Electronics and Vision, ICIEV 2013 - Dhaka, Bangladesh
Duration: 17 May 201318 May 2013

Conference

Conference2013 2nd International Conference on Informatics, Electronics and Vision, ICIEV 2013
CountryBangladesh
CityDhaka
Period17/05/1318/05/13

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  • Cite this

    Argentim, L. M., Rezende, W. C., Santos, P. E., & Aguiar, R. A. (2013). PID, LQR and LQR-PID on a quadcopter platform. In 2013 International Conference on Informatics, Electronics and Vision (ICIEV) [6572698] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIEV.2013.6572698