UAV efficient PID and LQR controllers design based on its stochastic state space dynamics model including disturbances

摘要

This paper explores the recent efforts to improve the functionality of Unmanned Aerial Vehicles (UAVs) for active interaction and manipulation of objects in addition to making the loss of human lives and economic costs as low as possible. The manipulator movement with an unknown payload was analyzed concerning force and moment disturbances, which influence the mass distribution, and the center of gravity. Hence, a comprehensive dynamics mathematical model of a hexacopter is presented where the stochastic state-space model was derived in order to construct anti-disturbances controllers. Based on the compound pendulum method, the disturbances model was inserted into the stochastic model that simulates the robotic arm with a payload. This research presents a simulation study using LabVIEW, where two types of controllers, the proportional integral differential (PID) and the linear quadratic regulator (LQR) are presented in order to investigate the stability of a hexacopter relative to the earth frame. The latter constitutes a challenge for UAV control performance especially with the presence of uncertainties and disturbances.