Hyperbolic tangent adaptive LQR+PID control of a quadrotor

Hayrettin Yavuz; Serhat Ikizoglu

doi:10.1109/CEIT.2018.8751878

Hyperbolic tangent adaptive LQR+PID control of a quadrotor

Hayrettin Yavuz, Serhat Ikizoglu

Department of Control and Automation Engineering

Istanbul Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

In this paper, an adaptive controller is proposed for attitude and altitude control of a quadrotor. First, mathematical and dynamic models of a quadrotor are analyzed. Next, PID and LQR controllers are designed separately. This step is followed by application of hyperbolic tangent weight function to increase the overall performance by selecting the proper controller at proper time. Finally, all the three controllers' performances are observed in Matlab Simulink simulation environment. Simulations show that adaptive controller's overall performance is remarkably superior to that of a single PID or LQR controller.

Original language	English
Title of host publication	2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018
Editors	Seref Naci Engin, Dogan Onur Arisoy, Muhammed Ali Oz
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781538676417
DOIs	https://doi.org/10.1109/CEIT.2018.8751878
Publication status	Published - Oct 2018
Event	6th International Conference on Control Engineering and Information Technology, CEIT 2018 - Istanbul, Turkey Duration: 25 Oct 2018 → 27 Oct 2018

Publication series

Name	2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018

Conference

Conference	6th International Conference on Control Engineering and Information Technology, CEIT 2018
Country/Territory	Turkey
City	Istanbul
Period	25/10/18 → 27/10/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

Keywords

Adaptive
LQR
PID
Quadrotor
Simulation

Access to Document

10.1109/CEIT.2018.8751878

Cite this

Yavuz, H., & Ikizoglu, S. (2018). Hyperbolic tangent adaptive LQR+PID control of a quadrotor. In S. N. Engin, D. O. Arisoy, & M. A. Oz (Eds.), 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018 Article 8751878 (2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CEIT.2018.8751878

Yavuz, Hayrettin ; Ikizoglu, Serhat. / Hyperbolic tangent adaptive LQR+PID control of a quadrotor. 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018. editor / Seref Naci Engin ; Dogan Onur Arisoy ; Muhammed Ali Oz. Institute of Electrical and Electronics Engineers Inc., 2018. (2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018).

@inproceedings{1df079f550354f8c80c8ad2f23e4aa4b,

title = "Hyperbolic tangent adaptive LQR+PID control of a quadrotor",

abstract = "In this paper, an adaptive controller is proposed for attitude and altitude control of a quadrotor. First, mathematical and dynamic models of a quadrotor are analyzed. Next, PID and LQR controllers are designed separately. This step is followed by application of hyperbolic tangent weight function to increase the overall performance by selecting the proper controller at proper time. Finally, all the three controllers' performances are observed in Matlab Simulink simulation environment. Simulations show that adaptive controller's overall performance is remarkably superior to that of a single PID or LQR controller.",

keywords = "Adaptive, LQR, PID, Quadrotor, Simulation",

author = "Hayrettin Yavuz and Serhat Ikizoglu",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 6th International Conference on Control Engineering and Information Technology, CEIT 2018 ; Conference date: 25-10-2018 Through 27-10-2018",

year = "2018",

month = oct,

doi = "10.1109/CEIT.2018.8751878",

language = "English",

series = "2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018",

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Yavuz, H & Ikizoglu, S 2018, Hyperbolic tangent adaptive LQR+PID control of a quadrotor. in SN Engin, DO Arisoy & MA Oz (eds), 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018., 8751878, 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018, Institute of Electrical and Electronics Engineers Inc., 6th International Conference on Control Engineering and Information Technology, CEIT 2018, Istanbul, Turkey, 25/10/18. https://doi.org/10.1109/CEIT.2018.8751878

Hyperbolic tangent adaptive LQR+PID control of a quadrotor. / Yavuz, Hayrettin; Ikizoglu, Serhat.
2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018. ed. / Seref Naci Engin; Dogan Onur Arisoy; Muhammed Ali Oz. Institute of Electrical and Electronics Engineers Inc., 2018. 8751878 (2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Ikizoglu, Serhat

PY - 2018/10

Y1 - 2018/10

N2 - In this paper, an adaptive controller is proposed for attitude and altitude control of a quadrotor. First, mathematical and dynamic models of a quadrotor are analyzed. Next, PID and LQR controllers are designed separately. This step is followed by application of hyperbolic tangent weight function to increase the overall performance by selecting the proper controller at proper time. Finally, all the three controllers' performances are observed in Matlab Simulink simulation environment. Simulations show that adaptive controller's overall performance is remarkably superior to that of a single PID or LQR controller.

AB - In this paper, an adaptive controller is proposed for attitude and altitude control of a quadrotor. First, mathematical and dynamic models of a quadrotor are analyzed. Next, PID and LQR controllers are designed separately. This step is followed by application of hyperbolic tangent weight function to increase the overall performance by selecting the proper controller at proper time. Finally, all the three controllers' performances are observed in Matlab Simulink simulation environment. Simulations show that adaptive controller's overall performance is remarkably superior to that of a single PID or LQR controller.

KW - Adaptive

KW - LQR

KW - PID

KW - Quadrotor

KW - Simulation

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DO - 10.1109/CEIT.2018.8751878

M3 - Conference contribution

AN - SCOPUS:85069203202

T3 - 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018

BT - 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018

A2 - Engin, Seref Naci

A2 - Arisoy, Dogan Onur

A2 - Oz, Muhammed Ali

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 6th International Conference on Control Engineering and Information Technology, CEIT 2018

Y2 - 25 October 2018 through 27 October 2018

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Yavuz H, Ikizoglu S. Hyperbolic tangent adaptive LQR+PID control of a quadrotor. In Engin SN, Arisoy DO, Oz MA, editors, 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018. Institute of Electrical and Electronics Engineers Inc. 2018. 8751878. (2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018). doi: 10.1109/CEIT.2018.8751878

Hyperbolic tangent adaptive LQR+PID control of a quadrotor

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Keywords

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