| Title |
Altitude Control of a Quadrotor Using a Switching Gain Scaling PID Controller |
| Authors |
강경훈(Kyung-Hoon Kang) ; 박지선(JI-Sun Park) ; 최호림(Ho-Lim Choiark) |
| DOI |
https://doi.org/10.5370/KIEE.2025.74.11.1979 |
| Keywords |
Quadrotor system; Hovering control; Switching control; Gain-scaling factor; AR.Drone |
| Abstract |
In this paper, a PID controller is designed for improved altitude control of a quadrotor system by utilizing two gain scaling factors and a switching technique. First, the effects of the gain-scaling factors on overshoot and steady-state error are analyzed. Then, a switching technique is applied to select one of the two gain scaling factors depending on the altitude. Of the two gain scaling factors, one is tuned to achieve low overshoot mainly for transient response, while the other is tuned for robustness against disturbances and to minimize steady-state error. The performance of our proposed method is experimentally highlighted via the comparison with the conventional PID controller by using an AR.Drone platform. The results demonstrate that the proposed method achieves improved performance over the conventional PID, -PID controller. |