Hyperbolic Tangent Adaptive LQR+PID Control of a Quadrotor
| Autor: | Hayrettin Yavuz, Serhat Ikizoglu |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Weight function Matlab simulink Computer science Hyperbolic function PID controller 02 engineering and technology 020901 industrial engineering & automation Dynamic models Control theory 0202 electrical engineering electronic engineering information engineering Proper time 020201 artificial intelligence & image processing Altitude control |
| Zdroj: | 2018 6th International Conference on Control Engineering & Information Technology (CEIT). |
| DOI: | 10.1109/ceit.2018.8751878 |
| Popis: | In this paper, an adaptive controller is proposed for attitude and altitude control of a quadrotor. First, mathematical and dynamic models of a quadrotor are analyzed. Next, PID and LQR controllers are designed separately. This step is followed by application of hyperbolic tangent weight function to increase the overall performance by selecting the proper controller at proper time. Finally, all the three controllers’ performances are observed in Matlab Simulink simulation environment. Simulations show that adaptive controller’s overall performance is remarkably superior to that of a single PID or LQR controller. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|