Coupled PID-SDRE Controller of a Quadrotor: Positioning and Stabilization of UAV Flight

Marcin Chodnicki, Wojciech Stecz, Wojciech Giernacki, Sławomir Stępień

2022

Abstract

This work presents a coupled Proportional-Integral-Derivative and State-Dependent Riccati Equation (PID-SDRE) controller. PID angular position controller coupled to nonlinear infinite-time SDRE controller for speed stabilization is proposed. For the quadrotor modelling a full 6 degree of freedom (DoF) model is considered and described by nonlinear state-space approach. Also, a stable state-dependent parameterization (SDP) necessary for solution of the SDRE control problem is proposed. Solution of the SDRE control problem with adequate defined weighting matrices in the performance index shows the possibility of fast and precise quadrotor positioning with optimal stabilization of speeds. Two methods of optimal SDRE-based stabilization are proposed, tested, and compared.

Paper Citation

in Harvard Style

Chodnicki M., Stecz W., Giernacki W. and Stępień S. (2022). Coupled PID-SDRE Controller of a Quadrotor: Positioning and Stabilization of UAV Flight. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-585-2, pages 524-530. DOI: 10.5220/0011335600003271

in Bibtex Style

@conference{icinco22,
author={Marcin Chodnicki and Wojciech Stecz and Wojciech Giernacki and Sławomir Stępień},
title={Coupled PID-SDRE Controller of a Quadrotor: Positioning and Stabilization of UAV Flight},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2022},
pages={524-530},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011335600003271},
isbn={978-989-758-585-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Coupled PID-SDRE Controller of a Quadrotor: Positioning and Stabilization of UAV Flight
SN - 978-989-758-585-2
AU - Chodnicki M.
AU - Stecz W.
AU - Giernacki W.
AU - Stępień S.
PY - 2022
SP - 524
EP - 530
DO - 10.5220/0011335600003271