Implementation of PID and LQR Controller Design for Unmanned Aerial Vehicle
In this research modelling and simulation results of altitude control for fixed wing unmanned aerial vehicle
UAV) are presented. The first component includes development of a physical, inertial and aerodynamic model representing
an existing UAV in research. The numerical values of the stability and derivatives are computed by using analytical method.
Second is the development and implementation of six degrees of freedom simulation, employing the developed model. In
this paper, the controller improvement techniques are presented for small UAV. These methods can be used to convert the
unstable conditions that cause by pole locations to stable conditions. And then the PID controller can be used to adjust the
desired set point for UAV. To apply the UAV system, the feedback control design is linear quadratic regulator (LQR) and
proportional, integral, derivative (PID) architectures.
Index Terms—UAV, PID Controller, LQR Controller, Stability Analysis, Numerical Analysis.