Robust Control of a Quadcopter BLDC Motor: Comparative Analysis of PID and H∞ Controllers

Barnabás Kiss; Aron Ballagi; Miklós Kuczmann

doi:10.30939/ijastech..1754212

Robust Control of a Quadcopter BLDC Motor: Comparative Analysis of PID and H∞ Controllers

Abstract

The aim of the present study was to investigate a control strategy designed for the BLDC (Brushless Direct Current) motor of a quadcopter-type drone, with particular emphasis on the precise and stable maintenance of altitude in a disturbed environment. Two different control methods were implemented and compared during the research: the classical PID (Proportional–Integral–Derivative) controller and the H∞ (H-infinity) control technique. The investigations were carried out along two approaches. On the one hand, a transfer function—reproduced from a previous study—was used as a possible reference, and tested in the MATLAB simulation environment. On the other hand, a custom-developed physical prototype with one degree of freedom was created, capable of vertical motion along a single axis, allowing for the examination of altitude control under real-world conditions. The purpose of the system was to maintain a predetermined hovering altitude even in the presence of external disturbances, such as artificially generated wind. During the design of the control algorithms, a state-space-based modeling approach was applied, and appropriate weighting functions were defined, with special attention given to robustness against disturbances, control accuracy, and energy-efficient operation. The simulation results showed that the H∞ controller reduced average power demand by 19.43% compared to PID control, while practical measurements demonstrated a 38% decrease in average power consumption. In addition, overshoot was reduced by 96% and oscillation amplitude by 86% under wind disturbance. The objective of the research was to examine the practical applica-bility of an advanced control method that can provide greater stability, reliability, and energy effi-ciency under varying environmental conditions compared to traditional solutions.

Keywords

References

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Details

Primary Language

English

Subjects

Automotive Engineering (Other)

Journal Section

Research Article

Authors

Barnabás Kiss ^*
0009-0003-8056-9212
Hungary

Aron Ballagi
0000-0002-5458-5249
Hungary

Miklós Kuczmann
0000-0001-5042-7991
Hungary

Early Pub Date

October 29, 2025

Publication Date

December 17, 2025

Submission Date

August 26, 2025

Acceptance Date

September 23, 2025

Published in Issue

Year 2025 Volume: 9 Number: 1st Future of Vehicles Conf.

DOI

https://doi.org/10.30939/ijastech..1754212

IZ

https://izlik.org/JA89MN77NR

Cite

RIS / Bibtex

APA

Kiss, B., Ballagi, A., & Kuczmann, M. (2025). Robust Control of a Quadcopter BLDC Motor: Comparative Analysis of PID and H∞ Controllers. International Journal of Automotive Science And Technology, 9(1st Future of Vehicles Conf.), 1-6. https://doi.org/10.30939/ijastech..1754212

AMA

1.Kiss B, Ballagi A, Kuczmann M. Robust Control of a Quadcopter BLDC Motor: Comparative Analysis of PID and H∞ Controllers. IJASTECH. 2025;9(1st Future of Vehicles Conf.):1-6. doi:10.30939/ijastech.1754212

Chicago

Kiss, Barnabás, Aron Ballagi, and Miklós Kuczmann. 2025. “Robust Control of a Quadcopter BLDC Motor: Comparative Analysis of PID and H∞ Controllers”. International Journal of Automotive Science And Technology 9 (1st Future of Vehicles Conf.): 1-6. https://doi.org/10.30939/ijastech. 1754212.

EndNote

Kiss B, Ballagi A, Kuczmann M (December 1, 2025) Robust Control of a Quadcopter BLDC Motor: Comparative Analysis of PID and H∞ Controllers. International Journal of Automotive Science And Technology 9 1st Future of Vehicles Conf. 1–6.

IEEE

[1]B. Kiss, A. Ballagi, and M. Kuczmann, “Robust Control of a Quadcopter BLDC Motor: Comparative Analysis of PID and H∞ Controllers”, IJASTECH, vol. 9, no. 1st Future of Vehicles Conf., pp. 1–6, Dec. 2025, doi: 10.30939/ijastech..1754212.

ISNAD

Kiss, Barnabás - Ballagi, Aron - Kuczmann, Miklós. “Robust Control of a Quadcopter BLDC Motor: Comparative Analysis of PID and H∞ Controllers”. International Journal of Automotive Science And Technology 9/1st Future of Vehicles Conf. (December 1, 2025): 1-6. https://doi.org/10.30939/ijastech. 1754212.

JAMA

1.Kiss B, Ballagi A, Kuczmann M. Robust Control of a Quadcopter BLDC Motor: Comparative Analysis of PID and H∞ Controllers. IJASTECH. 2025;9:1–6.

MLA

Kiss, Barnabás, et al. “Robust Control of a Quadcopter BLDC Motor: Comparative Analysis of PID and H∞ Controllers”. International Journal of Automotive Science And Technology, vol. 9, no. 1st Future of Vehicles Conf., Dec. 2025, pp. 1-6, doi:10.30939/ijastech. 1754212.

Vancouver

1.Barnabás Kiss, Aron Ballagi, Miklós Kuczmann. Robust Control of a Quadcopter BLDC Motor: Comparative Analysis of PID and H∞ Controllers. IJASTECH. 2025 Dec. 1;9(1st Future of Vehicles Conf.):1-6. doi:10.30939/ijastech. 1754212

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