September 28, 2025

Robust PID Controller for Quad-rotors

Key Points

The robust PID controller improves stability of quad-rotors against parameter uncertainties, ensuring reliable performance.
Simulation results indicate the controller achieves a specified transient response with stable closed-loop poles needing robust performance.
This optimization problem is solved using a genetic algorithm, enhancing the effectiveness of control input management for quad-rotor systems.
The design focuses on robustness and minimal control effort, which can help in developing more adaptable aerial vehicles.

Abstract

This study considers robust proportional integral derivative (PID) control for attitude stabilization of quad-rotors. The proposed method is designed for maintaining robustness against uncertainty of the system parameters and minimizing the control input for the quad-rotors. The closed-loop poles of the controlled system are placed within a region with specified decay rate and damping ratio for achieving specified transient response. The PID gains are tuned offline using theory. The robust control design problem is converted to optimization problem and solved using genetic algorithm. Finally, the proposed controller is simulated in the nominal and perturbations scenarios.

Robust PID Controller for Quad-rotors

Key Points

Abstract

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