Comparative Analysis of Attitude Control of Quadrotor UAVs: PID, ADRC, and NMPC Algorithms

被引:0
作者
Zhang, Tian [1 ,2 ]
Ng, Juinn Yea [1 ]
Tai, Vin Cent [1 ]
机构
[1] SEGi Univ, Fac Engn Built Environm & Informat Technol, Kota Damansara, Petaling Jaya, Malaysia
[2] Weinan Normal Univ, Sch Phys & Elect Engn, Weinan City, Shaanxi, Peoples R China
来源
2024 9TH INTERNATIONAL CONFERENCE ON ELECTRONIC TECHNOLOGY AND INFORMATION SCIENCE, ICETIS 2024 | 2024年
关键词
component; quad-rotor UAV; attitude control; PID; ADRC; NMPC;
D O I
10.1109/ICETIS61828.2024.10593686
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper investigates attitude control of a quadrotor Unmanned Aerial Vehicle (UAV) using three different controllers. Comparative analysis reveals that the PID controller provides a smoother response but with slower speed and noticeable oscillations under large disturbances. The Active Disturbance Rejection Control (ADRC) controller responds quickly but induces larger overshoot and oscillations. The Nonlinear Model Predictive Control (NMPC) controller exhibits excellent performance in both response speed and stability, albeit requiring substantial computational power.
引用
收藏
页码:210 / 215
页数:6
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