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Robust control of a quadcopter using PID and H∞ controller

Madi Said, Mohand Said Larabi, Nacereddine Mohamed Kherief


In this article, two control units, the proportional integral derivative (PID) and robust H∞ controller, are designed for controlling a quadcopter. The drone is a multi-input multi-output (MIMO) system whose control requires a lot of precision and durability. The objective of the control system is to ensure the tracking of the desired trajectory with precision in the face of the exogenous inputs (disturbance) which can affect the correct operation of the quad-copter. Support for harsh operating conditions due to model uncertainties that cause errors during operation. For this reason, controlling quad-copters is considered difficult and complex, which requires a compact and robust design. In this research we will study the design of a robust H∞ controller based on optimal control, this technique is widely used in the control of multivariable systems. Then the robust H∞ controller obtained is compared with a PID controller to justify the robustness of the H∞ controller and the efficiency of the behaviour of the quad-copter with H∞ concerning disturbances. The results of the simulation using MATLAB/Simulink showed the effectiveness of the method with acceptable trajectory tracking.

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