LQR-based LPV and PID Cooperative Control Method for Quadrotor

Le résumé fourni par la source

Currently, research on quadrotor controllers is advancing rapidly. Widely used controllers such as PID and LQR have been extensively applied in the field of aviation. By implementing an LPV and PID dual control system for quadrotors, this study addresses the critical issue of coordinating and allocating quadrotor torque. The LPV controller transforms the nonlinear physical parameter conversion method into linearized physical parameters, which are then processed by the Linear Quadratic Regulator (LQR) algorithm to derive the optimal gain matrix solution. This gain matrix solution is decomposed into two control components—LPV and PID—collectively forming the torque output for the quadrotor's flight along a predetermined trajectory. The interaction between PID's positive feedback and LQR's state negative feedback on the quadrotor's torque output significantly reduces trajectory errors, achieving optimal control performance. Furthermore, based on the two forms of torque allocation for quadrotors, this paper designs two torque allocation methods to maximize coordination effectiveness.

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