Proportional-Integral-Derivative (PID) scheme is the most commonly used algorithm for designing the controllers for unmanned aerial vehicles (UAVs). However, tuning PID gains is a non trivial task. A number of methods have been developed for tuning the PID gains for UAV systems. However, these methods do not handle wind disturbances, which is a major concern for small UAVs. In this paper, we propose a new method for determining optimized PID gains in the H2 optimal control framework, which achieves improved wind disturbance rejection. The proposed method compares the classical PID control law with the H2 optimal controller to determine the H2 optimal PID gains, and involves solving a convex optimization problem. The proposed controller is tested in two scenarios, namely, vertical velocity control, and vertical position control. The results are compared with the existing LQR based PID tuning method.

中文翻译：

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H2 带风扰的四旋翼平台PID优化控制

比例积分微分 (PID) 方案是设计无人机 (UAV) 控制器最常用的算法。然而，调整 PID 增益是一项非常重要的任务。已经开发了许多方法来调整 UAV 系统的 PID 增益。然而，这些方法不能处理风力干扰，这是小型无人机的主要问题。在本文中，我们提出了一种在 H2 最优控制框架中确定优化 PID 增益的新方法，该方法实现了改进的风干扰抑制。所提出的方法将经典 PID 控制律与 H2 最优控制器进行比较，以确定 H2 最优 PID 增益，并涉及求解凸优化问题。所提出的控制器在两种情况下进行测试，即垂直速度控制和垂直位置控制。