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A Comparative Analysis of Algorithms for Controlling the Attitude of an Unmanned Aerial Vehicle

Hafiz Farhaj Khan, Mansoor Saleem, Danish Mushtaq, and Faran Awais Butt
Department of Electrical Engineering, School of Engineering, University of Management & Technology, Lahore (UMT), Pakistan
Abstract—Controlling behavior of Unnamed Aerial Vehicles is one of the stimulating problems in robotics. In this regard, we are conducting a survey which investigates an adaptive approach for controlling the attitude of flying robot. This paper aims to present the comparison between different controllers to be used in a dynamic model of a UAV’s platform. A survey has been conducted on different types of PID algorithms, which has been considered in three structures with respect of optimal control signal applied to the actuators. A comparative analysis is performed on different stabilizing algorithms. For better performance of Quad-rotor during the hover mode, the cascade control system has been proposed. Another approach Linear Quadratic Regulator is discussed in this paper. All the results are based on the simulation. According to our survey, both PID and LQR should be used for most balanced Quad-copter.

Index Terms— UAV’s, PID, LQR, control, algorithm

Cite: Hafiz Farhaj Khan, Mansoor Saleem, Danish Mushtaq, and Faran Awais Butt, "A Comparative Analysis of Algorithms for Controlling the Attitude of an Unmanned Aerial Vehicle," Jounal of Automation and Control Engineering, Vol. 4, No. 3, pp. 199-203, June, 2016. doi: 10.18178/joace.4.3.199-203
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