Implementation of a novel optimal PID methods in UAV Applications

Bin Safwan, Shanna, Alkhoori, Fatima, Zweiri, Yahya and Sahinkaya, M. Necip (2018) Implementation of a novel optimal PID methods in UAV Applications. In: 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM); 18 - 20 July 2018, Singapore.


In this paper, a novel analytical tuning methodology for PID gains, based on Linear Quadratic Regulator (LQR) optimal control, for linear systems is developed. The proposed methodology uses once LQR in order to obtain different PID configurations (P, PI, PD, PID). The effectiveness and the applicability of the proposed methodology are demonstrated under different control scenarios in simulation using a quad-copter Unmanned Aerial Vehicle (UAV). The results of this methodology show good control response measures. Moreover, the computational time of (lqr) Matlab built-in function is compared against Riccati solution using invariant subspace approach. The later requires less computational time.

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