Article: Investigation and realisation of PID and LQR control methods in Parrot Mambo minidrone Journal: International Journal of Modelling, Identification and Control (IJMIC) 2022 Vol.40 No.3 pp.249 - 259 Abstract: A quadcopter is multivariate and unstable, highly nonlinear dynamic system, which requires a proper controller to ensure the stability and performance of the system. This study aims to investigate different types of control methods for Parrot Mambo minidrone. In this study, different control methods used on quadcopters such as proportional integral derivative (PID) and linear quadratic regulator (LQR) are investigated and implemented. First, the Parrot built-in PID controller is tested in simulation and experimentally validated using MATLAB and Simulink, followed by the design of the LQR controller. For both controllers, the operating point is selected such that the minidrone can hover along the vertical dimension. The design and tuning of the LQR is carried out by giving weight on the inertial coordinates and on the motor signals, which determine the performance of the minidrone with minimisation of quadratic cost function. The LQR controller shows that the system tends to have less overshoot in vertical trajectory. In many testing scenarios, the LQR controller shows better overall performance compared to PID controller in both simulation and experimental testing. Inderscience Publishers - linking academia, business and industry through research

Title: Investigation and realisation of PID and LQR control methods in Parrot Mambo minidrone

Authors: Mohamed Okasha; Jordan K. Kralev; Maidul Islam

Addresses: Department of Mechanical and Aerospace Engineering, College of Engineering, United Arab Emirates University, Al Ain, UAE ' Department of Systems and Control, Faculty of Automatics, Technical University of Sofia, Bulgaria ' Department of Mechanical Engineering, Kuliyyah of Engineering, International Islamic University Malaysia, Kuala Lumpur, Malaysia

Abstract: A quadcopter is multivariate and unstable, highly nonlinear dynamic system, which requires a proper controller to ensure the stability and performance of the system. This study aims to investigate different types of control methods for Parrot Mambo minidrone. In this study, different control methods used on quadcopters such as proportional integral derivative (PID) and linear quadratic regulator (LQR) are investigated and implemented. First, the Parrot built-in PID controller is tested in simulation and experimentally validated using MATLAB and Simulink, followed by the design of the LQR controller. For both controllers, the operating point is selected such that the minidrone can hover along the vertical dimension. The design and tuning of the LQR is carried out by giving weight on the inertial coordinates and on the motor signals, which determine the performance of the minidrone with minimisation of quadratic cost function. The LQR controller shows that the system tends to have less overshoot in vertical trajectory. In many testing scenarios, the LQR controller shows better overall performance compared to PID controller in both simulation and experimental testing.

Keywords: proportional integral derivative; PID; linear quadratic regulator; LQR; unmanned aerial vehicle; UAV; Parrot Mambo minidrone; control methods.

DOI: 10.1504/IJMIC.2022.125068

International Journal of Modelling, Identification and Control, 2022 Vol.40 No.3, pp.249 - 259

Received: 20 Apr 2021
Accepted: 01 Oct 2021
Published online: 25 Aug 2022 *

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Title: Investigation and realisation of PID and LQR control methods in Parrot Mambo minidrone

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