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Authors: Marcin Chodnicki 1 ; Wojciech Stecz 2 ; Wojciech Giernacki 3 and Sławomir Stępień 4

Affiliations: 1 Air Force Institute of Technology, Księcia Bolesława 6, 01-494 Warsaw, Poland ; 2 Military University of Technology, Faculty of Cybernetics, Kaliskiego 2, 00-908 Warsaw, Poland ; 3 Poznan University of Technology, Institute of Robotics and Machine Intelligence, Piotrowo 3a, 60-965 Poznań, Poland ; 4 Poznan University of Technology, Institute of Automatic Control and Robotics, Piotrowo 3a, 60-965 Poznań, Poland

Keyword(s): Quadrotor, Proportional-Integral-Derivative Control, State-Dependent Riccati Equation, Infinite-time Horizon Control.

Abstract: This work presents a coupled Proportional-Integral-Derivative and State-Dependent Riccati Equation (PID-SDRE) controller. PID angular position controller coupled to nonlinear infinite-time SDRE controller for speed stabilization is proposed. For the quadrotor modelling a full 6 degree of freedom (DoF) model is considered and described by nonlinear state-space approach. Also, a stable state-dependent parameterization (SDP) necessary for solution of the SDRE control problem is proposed. Solution of the SDRE control problem with adequate defined weighting matrices in the performance index shows the possibility of fast and precise quadrotor positioning with optimal stabilization of speeds. Two methods of optimal SDRE-based stabilization are proposed, tested, and compared.

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Paper citation in several formats:
Chodnicki, M.; Stecz, W.; Giernacki, W. and Stępień, S. (2022). Coupled PID-SDRE Controller of a Quadrotor: Positioning and Stabilization of UAV Flight. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-585-2; ISSN 2184-2809, SciTePress, pages 524-530. DOI: 10.5220/0011335600003271

@conference{icinco22,
author={Marcin Chodnicki. and Wojciech Stecz. and Wojciech Giernacki. and Sławomir Stępień.},
title={Coupled PID-SDRE Controller of a Quadrotor: Positioning and Stabilization of UAV Flight},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2022},
pages={524-530},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011335600003271},
isbn={978-989-758-585-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Coupled PID-SDRE Controller of a Quadrotor: Positioning and Stabilization of UAV Flight
SN - 978-989-758-585-2
IS - 2184-2809
AU - Chodnicki, M.
AU - Stecz, W.
AU - Giernacki, W.
AU - Stępień, S.
PY - 2022
SP - 524
EP - 530
DO - 10.5220/0011335600003271
PB - SciTePress

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