Attitude Control of a Quadrotor with Optimized PID Controller

Hossein Bolandi, Mohammad Rezaei, Reza Mohsenipour, Hossein Nemati, S. M. Smailzadeh

East Tehran (Qiam Dasht) Branch, Islamic Azad University, Tehran, Iran.
Electrical Engineering Department, Iran University of Science and Technology, Tehran, Iran.

DOI: 10.4236/ica.2013.43039                

Abstract

A new approach to control, stabilization and disturbance rejection of attitude subsystem of quadrotor is presented in this article. Analytical method is used to tune conventional structure of PID controller. SISO approach is implemented for control structure to achieve desired objectives. The performance of the designed control structure is evaluated through time domain factors such as overshoot, settling time and integral error index, and robustness. A comparison is done between designed controller and back-step controller applied to main model of quadrotor. The results of simulation show the effectiveness of designed control scheme.

Keywords

Modeling; Optimization; PID Control; Quadrotor

Conflicts of Interest

The authors declare no conflicts of interest.

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