Hybrid Quasi-Optimal PID-SDRE Quadrotor Control

Wojciech Giernacki, Sławomir Stępień, Marcin Chodnicki and Agnieszka Wróblewska
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Wojciech Giernacki: Institute of Robotics and Machine Intelligence, Faculty of Automatic Control, Robotics and Electrical Engineering, Poznan University of Technology, Piotrowo 3a, 60-965 Poznan, Poland
Sławomir Stępień: Institute of Automatic Control and Robotics, Faculty of Automatic Control, Robotics and Electrical Engineering, Poznan University of Technology, Piotrowo 3a, 60-965 Poznan, Poland
Marcin Chodnicki: Aircraft Composite Structures Division, Air Force Institute of Technology, 6 Ksiecia Boleslawa St., 01-494 Warsaw, Poland
Agnieszka Wróblewska: Institute of Heat Energy, Faculty of Environmental and Power Engineering, Poznan University of Technology, Piotrowo 5, 61-138 Poznan, Poland

Energies, 2022, vol. 15, issue 12, 1-13

Abstract: In the paper, a new cascade control system for an autonomous flight of an unmanned aerial vehicle (UAV) based on Proportional–Integral–Derivative (PID) and finite-time State-Dependent Riccati Equation (SDRE) control is proposed. The PID and SDRE controllers are used in a hybrid control system for precise control and stabilization, which is necessary to increase the drone’s flight stability and maneuver precision. The hybrid PID-SDRE control system proposed for the quadrotor model is quasi-optimal, since the suboptimal control algorithm for the UAV stabilization is used. The combination of the advantages of PID and SDRE control gives a significant improvement in the quality of control while maintaining the simplicity of the control system. Furthermore, the use of the suboptimal control technique provides the UAV attitude tracking in finite time. These remarks are drawn from a series of simulation tests conducted for the drone model.

Keywords: state-dependent riccati equation technique; SDRE control; PID control; attitude control; UAV; quadrotor (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2022
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