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Robust PID Controller for Quadrotors

Addy Wahyudie, Tri Bagus Susilo, Hassan Noura

Abstract


This paper considers robust PID for attitude stabilization of quadrotors. The proposed method is designed to maintain the robustness of the system against uncertainty of the system parameters. The tuning of PID gains also considers the limitation of the control force that can be generated from the rotors. In order to maintain the performance of system, the closed-loop poles of the controlled system are placed within a region with specified decay rate and damping ratio. The PID gains are tuned offline using H∞ theory. The robust control design problem is changed into optimization problem then solved using genetic algorithm. Computer simulations are conducted to show the effectiveness of the proposed method to stabilize the nominal and its perturbed system.

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DOI: http://dx.doi.org/10.21535%2FProICIUS.2012.v8.810

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