PID-based attitude control of quadrotor using robust pole assignment and LPV modeling

A novel control strategy is addressed in this paper for tracking control of a Quadrotor attitude based on PID structure. The nonlinear model of quadrotor including gyroscopic effects is considered for a Polytopic Linear Parameter Varying (LPV) modeling. Specifically, the control scheme adopted combines three techniques. On the one hand, the convex LPV controller using the nonlinearity approach has the advantage of precisely describing the system’s nonlinear behavior by interpolating local linear models, and one can extrapolate linear controller designs to the nonlinear case considering a more realistic scenario. The principle component analysis (PCA)-based parameter set mapping is used for creating a low dimensional Polytopic LPV model. Augmenting the proposed PID-based control action states to the plant states results in an overall plant in the form of standard robust state feedback control problem where a robust pole assignment controller is designed. An H∞ attenuation level for the tracking error under external disturbances such as wind effects is guaranteed by solving the introduced linear matrix inequalities (LMIs) to compute the control gains. Simulating the planned controller to a proposed quadrotor shows the effectiveness of the proposed strategy in attitude control problem against the external disturbances.