طراحي كنترل‌كننده PID چند ورودي و چند خروجي به كمك روش LMI براي كوادكوپتر

Multi-Input Multi-Output PID controller design an‎d tuning via LMI method for a quadcopter

مهندسي مكانيك

Quadcopters have found many applications in various fields such as aerial photography, inspection, an‎d transportation due to their high maneuverability an‎d stability. Accurate control of quadcopters is essential for performing various tasks. One of the common methods for control is the use of proportional-integral-derivative (PID) controllers. However, designing a PID controller for multiple-input, multiple-output (MIMO) systems such as quadcopters can be challenging. In this thesis, a new method for designing a multi-input, multi-output (MIMO) PID controller for quadcopters is presented using the linear matrix inequality (LMI) method. The linear matrix inequality (LMI) method is a powerful tool for analyzing an‎d designing control systems that can be used to solve complex control problems. Simulation results show that the multi-input, multi-output PID controller designed using the linear matrix inequality method can significantly improve the stability an‎d performance of the quadcopter.

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