Implementation of a Novel Optimal PID Methods in UAV Applications
Autor: | Yahya Zweiri, Fatima Alkhoori, Shamma Bin Safwan, M. Necip Sahinkaya |
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Rok vydání: | 2018 |
Předmět: |
Computer science
020208 electrical & electronic engineering Invariant subspace Linear system PID controller Good control 02 engineering and technology Function (mathematics) Linear-quadratic regulator Optimal control 020303 mechanical engineering & transports 0203 mechanical engineering Control theory 0202 electrical engineering electronic engineering information engineering MATLAB computer computer.programming_language |
Zdroj: | ICARM |
Popis: | 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. |
Databáze: | OpenAIRE |
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