PID, LQR and LQR-PID on a quadcopter platform

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

doi:10.1109/ICIEV.2013.6572698

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 proceeding › Conference contribution › peer-review

132 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 language	English
Title of host publication	2013 International Conference on Informatics, Electronics and Vision (ICIEV)
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	978-1-4799-0400-6
ISBN (Print)	978-1-4799-0397-9
DOIs	https://doi.org/10.1109/ICIEV.2013.6572698
Publication status	Published - 1 Aug 2013
Externally published	Yes
Event	2013 2nd International Conference on Informatics, Electronics and Vision, ICIEV 2013 - Dhaka, Bangladesh Duration: 17 May 2013 → 18 May 2013

Conference

Conference	2013 2nd International Conference on Informatics, Electronics and Vision, ICIEV 2013
Country/Territory	Bangladesh
City	Dhaka
Period	17/05/13 → 18/05/13

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title = "PID, LQR and LQR-PID on a quadcopter platform",

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).",

author = "Argentim, {Lucas M.} and Rezende, {Willian C.} and Santos, {Paulo E.} and Aguiar, {Renato A.}",

year = "2013",

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doi = "10.1109/ICIEV.2013.6572698",

language = "English",

isbn = "978-1-4799-0397-9",

booktitle = "2013 International Conference on Informatics, Electronics and Vision (ICIEV)",

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note = "2013 2nd International Conference on Informatics, Electronics and Vision, ICIEV 2013 ; Conference date: 17-05-2013 Through 18-05-2013",

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Argentim, LM, Rezende, WC, Santos, PE & Aguiar, RA 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., 2013 2nd International Conference on Informatics, Electronics and Vision, ICIEV 2013, Dhaka, Bangladesh, 17/05/13. https://doi.org/10.1109/ICIEV.2013.6572698

TY - GEN

T1 - PID, LQR and LQR-PID on a quadcopter platform

AU - Argentim, Lucas M.

AU - Rezende, Willian C.

AU - Santos, Paulo E.

AU - Aguiar, Renato A.

PY - 2013/8/1

Y1 - 2013/8/1

N2 - 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).

AB - 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).

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U2 - 10.1109/ICIEV.2013.6572698

DO - 10.1109/ICIEV.2013.6572698

M3 - Conference contribution

AN - SCOPUS:84883316055

SN - 978-1-4799-0397-9

BT - 2013 International Conference on Informatics, Electronics and Vision (ICIEV)

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2013 2nd International Conference on Informatics, Electronics and Vision, ICIEV 2013

Y2 - 17 May 2013 through 18 May 2013

ER -

PID, LQR and LQR-PID on a quadcopter platform

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