Hybrid Quasi-Optimal PID-SDRE Quadrotor Control
[ 1 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ 2 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ 3 ] Instytut Energetyki Cieplnej, Wydział Inżynierii Środowiska i Energetyki, Politechnika Poznańska | [ P ] pracownik
[2.2] Automatyka, elektronika, elektrotechnika i technologie kosmiczne[2.10] Inżynieria środowiska, górnictwo i energetyka
2022
artykuł naukowy
angielski
- state-dependent riccati equation technique
- SDRE control
- PID control
- attitude control
- UAV
- quadrotor
EN In the paper, a new cascade control system for an autonomous flight of an unmanned aerial vehicle (UAV) based on Proportional–Integral–Derivative (PID) and finite-time State-Dependent Riccati Equation (SDRE) control is proposed. The PID and SDRE controllers are used in a hybrid control system for precise control and stabilization, which is necessary to increase the drone’s flight stability and maneuver precision. The hybrid PID-SDRE control system proposed for the quadrotor model is quasi-optimal, since the suboptimal control algorithm for the UAV stabilization is used. The combination of the advantages of PID and SDRE control gives a significant improvement in the quality of control while maintaining the simplicity of the control system. Furthermore, the use of the suboptimal control technique provides the UAV attitude tracking in finite time. These remarks are drawn from a series of simulation tests conducted for the drone model.
4312-1 - 4312-13
article number: 4312
CC BY (uznanie autorstwa)
otwarte czasopismo
ostateczna wersja opublikowana
publiczny
140
3,2