PID vs LQR controller for tilt rotor airplane

Abstract

The main thematic of this paper is controlling the main manoeuvers of a tilt rotor UAV airplane in several modes such as vertical takeoff and landing, longitudinal translation and the most important phase which deal with the transition from the helicopter mode to the airplane mode and visversa based on a new actuators combination technique for specially the yaw motion with not referring to rotor speed control strategy which is used in controlling the attitude of a huge number of vehicles nowadays. This new actuator combination is inspired from that the transient response of a trirotor using tilting motion dynamics provides a faster response than using rotor speed dynamics. In the literature, a lot of control technics are used for stabilizing and guarantee the necessary manoeuvers for executing such task, a multiple Attitude and Altitude PID controllers were chosen for a simple linear model of our tilt rotor airplane in order to fulfill the desired trajectory, for reasons of complexity of our model the multiple PID controller doesnt take into consideration all the coupling that exists between the degrees of freedom in our model, so an LQR controller is adopted for more feasible solution of complex manoeuvering, the both controllers need linearization of the model for an easy implementation.

Brake Current Control System Modeling Using Linear Quadratic Regulator (LQR) and Proportional integral derivative (PID)

“…The performance of the LQR controller in this study is better, especially in terms of settling time and low overshoot criteria. PID and LQR were also compared in a tiltrotor controlling case study [8]. This study also gave positive results for the LQR controller, seen in the overshoot and response time criteria.…”

Peningkatan Kestabilan Quadrotor menggunakan Kendali Linear Quadratic Regulator dengan Kompensasi Integrator dalam Mempertahankan Posisi

“…Pernyataan tersebut diperkuat dengan bukti hasil eksperimen penelitian yang diperoleh, dimana quadrotor mampu memberikan kesalahan minimal yang terjadi pada sistem dengan respon dari ketiga sudut orientasi baik roll, pitch dan yaw dalam mencapai keadaan tunaknya kurang dari 1 detik [4]. Selain itu juga, dibandingkan dengan pengendalian menggunakan kendali PID, kendali LQR memiliki kemampuan yang lebih baik dan power full dalam performansi indeks seperti pengelolaan overshoot, response time dan control precision pada kestabilan pergerakan pesawat terbang tanpa awak [5].…”

Predictive load accommodation in a micro-grid

“…An observer [7]- [9] overcomes this drawback by estimating the unknown states of systems but enhances the dimension of the latter and is uneconomic. Well known controllers like proportional integral [10]/proportional integral derivative [11], [12] also don't find appropriateness to control the multiple input and output systems. This necessitates exploring suitable control technique(s) for such systems.…”