Skip to main content
SpringerLink
Log in

PID and LQ Regulation of a Multirotor Attitude: Mathematical Modelling, Simulations and Experimental Results

  • Published:
Journal of Intelligent & Robotic Systems Aims and scope Submit manuscript

Abstract

Multirotors have been recognized to be particularly interesting for surveillance, search and rescue, imaging and more, because of their several advantages as the high maneuverability and the vertical take off and landing capability. This paper presents the experimental results of the application of a Proportional Integral Derivative control law and a Linear Quadratic Regulation technique to the attitude of a multirotor. The reader is driven through all the main steps required to reach this goal, starting from the derivation of the mathematical model and the control laws, to the simulations and the experimental tests.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Rinaldi, F., Quagliotti, F., Chiesa, S.: Design of an U.A.V. controller based on the open source platform Arduino. In: Proceedings of 3rd CEAS (Council of the European Aerospace Societies), Air & Space Conference, 21st AIDAA Congress, Venice (Italy), pp. 4–10. ISBN: 978-88-96427-18-7, Confine edizioni (ITALY), Monghidoro (BO), 24–28 Oct 2011

  2. Bresciani, T.: Modelling identification and control of a quadrotor helicopter. M.S. thesis, Department of Automatic Control, Lund University, Sweden (2008)

  3. Abdolhosseini, M., Zhang, Y.M., Rabbath, C.A.: An efficient model predictive control scheme for an unmanned quad-rotor helicopter. J. Intell. Robot. Syst. 70(1–4), 27–38 (2013)

    Article  Google Scholar 

  4. Rinaldi, F., Chiesa, S., Quagliotti, F.: Linear quadratic control for quadrotors UAVs dynamics and formation flight. J. Intell. Robot. Syst. 70(1–4), 203–220 (2013)

    Article  Google Scholar 

  5. Bolzern, P., Scattolini, R., Schiavoni, N.: Fondamenti di controlli automatici. McGraw-Hill Companies. ISBN: 9788838660993 (2004)

Download references

Author information

Authors and Affiliations

  1. Politecnico di Torino, Torino, Italy

    F. Rinaldi, A. Gargioli & F. Quagliotti

Authors
  1. F. Rinaldi
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. A. Gargioli
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. F. Quagliotti
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to F. Rinaldi.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Rinaldi, F., Gargioli, A. & Quagliotti, F. PID and LQ Regulation of a Multirotor Attitude: Mathematical Modelling, Simulations and Experimental Results. J Intell Robot Syst 73, 33–50 (2014). https://doi.org/10.1007/s10846-013-9911-x

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10846-013-9911-x

Keywords

Search

Navigation