Abstract
Conference Title: 2017 25th Mediterranean Conference on Control and Automation (MED) Conference Start Date: 2017, July 3 Conference End Date: 2017, July 6 Conference Location: Valletta, Malta In this paper, we compare two control techniques for a DJI F450 quadcopter which is controlled and stabilized by a non-rooted onboard Android smartphone, without the aid of an external IMU. Specifically, we compare an advanced modelfree PID and LQI controller. Since Android is not a realtime system, the control commands and sensor measurements are subject to significant latencies, and hence the PID controller is modified to account for non-trivial measurement asynchronicities. We also show that some features can be added to the widely used baseline PID to obtain better performance in the presence of latencies and noise. Finally, we introduce a LQI controller which is capable of satisfactorily tracking a reference command in the presence of errors, noise, and model uncertainties, and compare the results to the PID controller.