Attitude and altitude control of quadrotor by discrete PID control and non-linear model predictive control

Abstract

Quadrotor is a highly non-linear system with complex dynamics. For a stable flight, it requires anefficient control scheme. This paper first present a discrete PD, PI and PID controllers based control scheme. It is a simple control strategy, capable of controlling the quadrotor. This paper also presents the non-linear model predictive control of quadrotor. Model predictive control is a digital control technique and it uses plant model in order to find the control signals. Discrete non-linear model of quadrotor is used. The parameters of this discrete non-linear model are found by using the input output data of quadrotor taken from PID control simulation and recursive least squares (RLS) algorithm. The novelty of the proposed scheme lies in the use and parameter identification of non-linear model of quadrotor. Model predictive control is an optimal control strategy that provides optimal control signals by using constrained optimization and gives optimal control results. Simulation results have shown the effectiveness of the proposed control scheme.