{"title":"双曲切线自适应LQR+PID控制的四旋翼飞行器","authors":"H. Yavuz, S. Ikizoglu","doi":"10.1109/CEIT.2018.8751878","DOIUrl":null,"url":null,"abstract":"In this paper, an adaptive controller is proposed for attitude and altitude control of a quadrotor. First, mathematical and dynamic models of a quadrotor are analyzed. Next, PID and LQR controllers are designed separately. This step is followed by application of hyperbolic tangent weight function to increase the overall performance by selecting the proper controller at proper time. Finally, all the three controllers’ performances are observed in Matlab Simulink simulation environment. Simulations show that adaptive controller’s overall performance is remarkably superior to that of a single PID or LQR controller.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Hyperbolic Tangent Adaptive LQR+PID Control of a Quadrotor\",\"authors\":\"H. Yavuz, S. Ikizoglu\",\"doi\":\"10.1109/CEIT.2018.8751878\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, an adaptive controller is proposed for attitude and altitude control of a quadrotor. First, mathematical and dynamic models of a quadrotor are analyzed. Next, PID and LQR controllers are designed separately. This step is followed by application of hyperbolic tangent weight function to increase the overall performance by selecting the proper controller at proper time. Finally, all the three controllers’ performances are observed in Matlab Simulink simulation environment. Simulations show that adaptive controller’s overall performance is remarkably superior to that of a single PID or LQR controller.\",\"PeriodicalId\":357613,\"journal\":{\"name\":\"2018 6th International Conference on Control Engineering & Information Technology (CEIT)\",\"volume\":\"74 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 6th International Conference on Control Engineering & Information Technology (CEIT)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CEIT.2018.8751878\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CEIT.2018.8751878","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Hyperbolic Tangent Adaptive LQR+PID Control of a Quadrotor
In this paper, an adaptive controller is proposed for attitude and altitude control of a quadrotor. First, mathematical and dynamic models of a quadrotor are analyzed. Next, PID and LQR controllers are designed separately. This step is followed by application of hyperbolic tangent weight function to increase the overall performance by selecting the proper controller at proper time. Finally, all the three controllers’ performances are observed in Matlab Simulink simulation environment. Simulations show that adaptive controller’s overall performance is remarkably superior to that of a single PID or LQR controller.
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