Position & Attitude Control of an Aerial Robot (Quadrotor) With Intelligent PID and State feedback LQR Controller: A Comparative Approach

摘要

The Quadcopter Helicopters due to their unmatchable stability in Unmanned Aerial vehicle (UAV) class have gained control engineering community attraction during the last decade. It is an under actuated system with four inputs and six output states. Quadrotors are famous in route control and they can also be used as a testbed for testing, authentication and validation of control engineering laws in simulation and in a real-time environment. Testing, Authentication and Validation of a novel and proposed control algorithm is a pre requisite in Simulation on a plant with use of mathematical engineering tool i.e. LabVIEW or MATLAB. The Model of a plant can be chosen with reference to the proposed algorithm, so it can be linear or nonlinear. This proposed research work is a contribution in field of Intelligent flight controller Implementation and their comparison on Unmanned Aerial Vehicles (UAVs) family. This research work presents the implementation of Intelligent flight PID, LQR and State feedback controllers on nonlinear model of X3D Quadrotor. The implemented controllers have been tested, authenticated, validated and also compared in simulation using NI LabVIEW. The Control algorithms are implemented in a closed loop background to control the position & attitude of trajectory following Quadrotor Helicopter. To make the PID, LQR and state feedback control more challengeable, the model uncertainty and sensor noise has also been added to the plant. Although all the implemented controllers gives satisfactory feedback in stabilizing the quadrotor, but the comparison shows that the LQR controller because of its best performance, effectiveness and robustness in the plant, seems to be the best comparative implemented controller among them.