Hybrid Quasi-Optimal PID-SDRE Quadrotor Control

被引：10

作者：

Giernacki, Wojciech ^{[1
]}

Stepien, Slawomir ^{[2
]}

Chodnicki, Marcin ^{[3
]}

Wroblewska, Agnieszka ^{[4
]}

机构：

[1] Poznan Univ Tech, Fac Automat Control Robot & Elect Engn, Inst Robot & Machine Intelligence, Piotrowo 3a, PL-60965 Poznan, Poland

[2] Poznan Univ Tech, Fac Automat Control Robot & Elect Engn, Inst Automat Control & Robot, Piotrowo 3a, PL-60965 Poznan, Poland

[3] Air Force Inst Technol, Aircraft Composite Struct Div, 6 Ksiecia Boleslawa St, PL-01494 Warsaw, Poland

[4] Poznan Univ Tech, Fac Environm & Power Engn, Inst Heat Energy, Piotrowo 5, PL-61138 Poznan, Poland

来源：

ENERGIES | 2022年 / 15卷 / 12期

关键词：

state-dependent riccati equation technique; SDRE control; PID control; attitude control; UAV; quadrotor; DEPENDENT RICCATI EQUATION; CONTROL STRATEGIES; SUBOPTIMAL CONTROL; SYSTEMS;

D O I：

10.3390/en15124312

中图分类号：

TE [石油、天然气工业]; TK [能源与动力工程];

学科分类号：

0807 ; 0820 ;

摘要：

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.

引用

页数：13

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