Addressing model errors in UAV altitude control using compensator
Gilang Nugraha Putu Pratama, Alfian Ma’arif, Iswanto Iswanto, Evi Wahyu Pratiwi · Franklin Open · 2025
The control of UAV quadrotors remains a compelling topic in control engineering, largely due to their nonlinear dynamics and complex behavior. Effective altitude control requires a well-designed controller capable of maintaining stability and performance. However, standard controllers may not suffice when confronted with parametric uncertainties or time delays, necessitating the addition of compensators to ensure robust performance. This study proposes a model error compensator designed to mitigate errors arising from parametric uncertainties using the Particle Swarm Optimization (PSO) algorithm. Simulation results confirm that the proposed compensator effectively reduces response variations caused by uncertainties and time delays, demonstrating its potential to enhance the reliability of altitude control in UAV quadrotors. • UAV altitude control is challenging due to nonlinear and complex dynamics. • Traditional controllers often fail under uncertainties or time delays. • This study introduces a model error compensator using PSO to address issues. • Simulations show improved stability and reduced variations in UAV responses.