Attitude Control of a Quadrotor with Optimized PID Controller.docVIP

Intelligent Control and Automation, 2013, 4, 335-342 /10.4236/ica.2013.43039 Published Online August 2013 (/journal/ica) Attitude Control of a Quadrotor with Optimized PID Controller Hossein Bolandi , Mohammad Rezaei , Reza Mohsenipour , 1 1 2 1 1 Hossein Nemati Electrical Engineering Department, Iran University of Science and Technology, Tehran, Iran East Tehran (Qiam Dasht) Branch, Islamic Azad University, Tehran, Iran , Seed Majid Smailzadeh 1 2 Email: h_bolandi@iust.ac.ir, mrezaei@iust.ac.ir, mohsenipour.r@, c.nemmati@, smailzadeh@iust.ac.ir Received October 17, 2012; revised December 1, 2012; accepted December 9, 2012 Copyright ? 2013 Hossein Bolandi et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. ABSTRACT A new approach to control, stabilization and disturbance rejection of attitude subsystem of quadrotor is presented in this article. Analytical method is used to tune conventional structure of PID controller. SISO approach is implemented for control structure to achieve desired objectives. The performance of the designed control structure is evaluated through time domain factors such as overshoot, settling time and integral error index, and robustness. A comparison is done between designed controller and back-step controller applied to main model of quadrotor. The results of simulation show the effectiveness of designed control scheme. Keywords: Modeling; Optimization; PID Control; Quadrotor 1. Introduction military and civilian applications [5]. One of the advan- tages of the quadrotor configuration is its payload capac- ity. As a drawback, this type of UAV presents a weight and