Mathematical Modelling

Method of dynamic synthesis of adaptive LQR controller coefficients in combination with PID controller in the control system of a multirotor UAV

D. M. Volkov, A. I. Saveliev

St. Petersburg Federal Research Center of the Russian Academy of Sciences, St. Petersburg, Russian Federation

Abstract: The objective of this work is to improve the robustness and stability of the control system of a multirotor unmanned aerial vehicle (CS UAV) using a new method of dynamic LQR synthesis of gain factors and generation of control actions. The developed method ensures real-time adaptation of the UAV CS to external influences due to dynamically changing weighting factors of the cost matrices Q and R, as well as generated coefficients of the UAV dynamic model. A comparison of the synthesized controller based on the developed method with a PID controller, which is widely used in modern UAVs, is carried out. It is revealed that the developed method works comparatively better, showing, under certain experimental conditions, the percentage of correlation of the output action to the desired angular position is 26 % greater than the PID controller with static coefficients. At the same time, the time interval of the transient regulation process using the proposed method is on average 5 times smaller than that of the considered analogue.

Keywords: LQR, LQ-regulator, adaptive LQR, adaptive regulator, adaptive LQ-regulator, CS UAV.

UDC: 681.5.013

MSC: 92C55

Received: 04.02.2025

DOI: 10.14529/mmp250301