论文标题
H2优化了具有风干扰的四轮驱动器平台的PID控制
H2 Optimized PID Control of Quad-Copter Platform with Wind Disturbance
论文作者
论文摘要
比例综合衍生（PID）方案是设计无人机（UAVS）控制器的最常用算法。但是，调整PID收益是一项非琐碎的任务。已经开发了许多方法来调整无人机系统的PID增益。但是，这些方法无法处理风干扰，这是小型无人机的主要问题。在本文中，我们提出了一种新方法，用于确定H2最佳控制框架中优化的PID增益，从而改善了风干扰排斥。提出的方法将经典的PID控制法与H2最佳控制器进行比较，以确定H2最佳PID增益，并涉及解决凸优化问题。在两种情况下，即垂直速度控制和垂直位置控制，对所提出的控制器进行了测试。将结果与现有的基于LQR的PID调整方法进行比较。
Proportional-Integral-Derivative (PID) scheme is the most commonly used algorithm for designing the controllers for unmanned aerial vehicles (UAVs). However, tuning PID gains is a non trivial task. A number of methods have been developed for tuning the PID gains for UAV systems. However, these methods do not handle wind disturbances, which is a major concern for small UAVs. In this paper, we propose a new method for determining optimized PID gains in the H2 optimal control framework, which achieves improved wind disturbance rejection. The proposed method compares the classical PID control law with the H2 optimal controller to determine the H2 optimal PID gains, and involves solving a convex optimization problem. The proposed controller is tested in two scenarios, namely, vertical velocity control, and vertical position control. The results are compared with the existing LQR based PID tuning method.
