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Relay-based autotuning for quadrotor attitude and rate control
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DOI：10.1016/j.mechatronics.2026.103572.png)
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Abstract
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• Relay-based autotuning enables systematic PID tuning for quadrotor control. • Relay identification accurately captures attitude and rate dynamics of MAVs. • Event-based control reduces actions by up to 98% while preserving stability. • Computational load is reduced, enabling efficient real-time implementation. • Crazyflie 2.1 experiments validate improved control and reduced effort.
Keywords:
Flying robots
Closed loop identification
Identification for control
Distributed control and estimation
MAVs
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