PID vs LQ control techniques applied to an indoor micro quadrotor

@article{Bouabdallah2004PIDVL,
  title={PID vs LQ control techniques applied to an indoor micro quadrotor},
  author={S. Bouabdallah and A. Noth and R. Siegwart},
  journal={2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)},
  year={2004},
  volume={3},
  pages={2451-2456 vol.3}
}
  • S. Bouabdallah, A. Noth, R. Siegwart
  • Published 2004
  • Computer Science
  • 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
The development of miniature flying robots has become a reachable dream, thanks to the new sensing and actuating technologies. [...] Key Method A classical approach (PID) assumed a simplified dynamics and a modern technique (LQ) based on a more complete model. Various simulations were performed and several tests on the bench validate the control laws. Finally, we present the results of the first test in flight with the helicopter released. These developments are part of the OS4 project in our lab.Expand
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