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

Kontrol ve Otomasyon Mühendisliği Bölümü

Istanbul Technical University

Araştırma sonucu: ???type-name??? › Konferans katkısı › bilirkişi

1 Atıf (Scopus)

Özet

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.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018
Editörler	Seref Naci Engin, Dogan Onur Arisoy, Muhammed Ali Oz
Yayınlayan	Institute of Electrical and Electronics Engineers Inc.
ISBN (Elektronik)	9781538676417
DOI'lar	https://doi.org/10.1109/CEIT.2018.8751878
Yayın durumu	Yayınlandı - Eki 2018
Etkinlik	6th International Conference on Control Engineering and Information Technology, CEIT 2018 - Istanbul, Turkey Süre: 25 Eki 2018 → 27 Eki 2018

Yayın serisi

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

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	6th International Conference on Control Engineering and Information Technology, CEIT 2018
Ülke/Bölge	Turkey
Şehir	Istanbul
Periyot	25/10/18 → 27/10/18

Bibliyografik not

Publisher Copyright:
© 2018 IEEE.

Belgeye Erişim

10.1109/CEIT.2018.8751878

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

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 Makale 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. editör / 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.",

editor = "Engin, {Seref Naci} and Arisoy, {Dogan Onur} and Oz, {Muhammed Ali}",

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

address = "United States",

}

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).

Araştırma sonucu: ???type-name??? › Konferans katkısı › bilirkişi

TY - GEN

T1 - Hyperbolic tangent adaptive LQR+PID control of a quadrotor

AU - Yavuz, Hayrettin

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

UR - http://www.scopus.com/inward/record.url?scp=85069203202&partnerID=8YFLogxK

U2 - 10.1109/CEIT.2018.8751878

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

ER -

Yavuz H, Ikizoglu S. Hyperbolic tangent adaptive LQR+PID control of a quadrotor. In Engin SN, Arisoy DO, Oz MA, editörler, 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

Özet

Yayın serisi

???event.eventtypes.event.conference???

Bibliyografik not

Belgeye Erişim

Diğer Dosyalar ve Linkler

Parmak izi

Alıntı Yap