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

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.