Athar Ali

Horizontal Motion Control of Underactuated Quadrotor Under Disturbed and Noisy Circumstances

In recent years, the area of quadrotor UAV has drawn prominent attention of the researchers, enabling them to develop an immense research area in the field of UAVs. A quadrotor system has a simple and nonlinear architectural design, so it requires a suitable controller to ensure its stability during flight. However, due to its architectural structure several issues were found regarding its controlling such as angular stability, altitude, and position control of quadrotor under the challenging conditions such as wind burst and noisy measurements, and these issues are still not successfully resolved. In this paper, modern control design techniques are discussed and their application in quadrotor control issues is presented. An innovative and more robust control technique, compared to the available renowned control techniques, is proposed for the position controlling quadrotor system. The controller is designed by fusing two distinct control techniques PID and LQR, which is named PID–LQR which deals with two major issues faced by the flying quadrotor, i.e., external disturbance and noise, respectively. Furthermore, the effectiveness of the proposed control technique is also verified by comparing it with auto-tuned PID and optimized LQR techniques under disturbed and noisy conditions. The simulated results indicate that the proposed method yields a better response as compared to the conventional methods.