Gain scheduled linear quadratic control for quadcopter

This study exploits the dynamics and control of quadcopters using Linear Quadratic Regulator (LQR) control approach. The quadcopter’s mathematical model is derived using the Newton-Euler method. It is a highly manoeuvrable, nonlinear, coupled with six degrees of freedom (DOF) model, which include...

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Main Authors:	Okasha, Mohamed Elsayed Aly Abd Elaziz, Shah, J., Fauzi, W, Hanouf, Zahir
Format:	Conference or Workshop Item
Language:	English English
Published:	IOP Publishing 2017
Subjects:	T Technology (General)
Online Access:	http://irep.iium.edu.my/62846/ http://irep.iium.edu.my/62846/ http://irep.iium.edu.my/62846/ http://irep.iium.edu.my/62846/1/62846%20Gain%20scheduled%20linear%20quadratic.pdf http://irep.iium.edu.my/62846/2/62846%20Gain%20scheduled%20linear%20quadratic%20SCOPUS.pdf

id	iium-62846
recordtype	eprints
spelling	iium-628462018-06-26T08:16:27Z http://irep.iium.edu.my/62846/ Gain scheduled linear quadratic control for quadcopter Okasha, Mohamed Elsayed Aly Abd Elaziz Shah, J. Fauzi, W Hanouf, Zahir T Technology (General) This study exploits the dynamics and control of quadcopters using Linear Quadratic Regulator (LQR) control approach. The quadcopter’s mathematical model is derived using the Newton-Euler method. It is a highly manoeuvrable, nonlinear, coupled with six degrees of freedom (DOF) model, which includes aerodynamics and detailed gyroscopic moments that are often ignored in many literatures. The linearized model is obtained and characterized by the heading angle (i.e. yaw angle) of the quadcopter. The adopted control approach utilizes LQR method to track several reference trajectories including circle and helix curves with significant variation in the yaw angle. The controller is modified to overcome difficulties related to the continuous changes in the operating points and eliminate chattering and discontinuity that is observed in the control input signal. Numerical non-linear simulations are performed using MATLAB and Simulink to illustrate to accuracy and effectiveness of the proposed controller IOP Publishing 2017 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/62846/1/62846%20Gain%20scheduled%20linear%20quadratic.pdf application/pdf en http://irep.iium.edu.my/62846/2/62846%20Gain%20scheduled%20linear%20quadratic%20SCOPUS.pdf Okasha, Mohamed Elsayed Aly Abd Elaziz and Shah, J. and Fauzi, W and Hanouf, Zahir (2017) Gain scheduled linear quadratic control for quadcopter. In: AEROS Conference, 12th December 2017, Putrajaya, Malaysia. http://iopscience.iop.org/article/10.1088/1757-899X/270/1/012009/pdf 10.1088/1757-899X/270/1/012009
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	T Technology (General)
spellingShingle	T Technology (General) Okasha, Mohamed Elsayed Aly Abd Elaziz Shah, J. Fauzi, W Hanouf, Zahir Gain scheduled linear quadratic control for quadcopter
description	This study exploits the dynamics and control of quadcopters using Linear Quadratic Regulator (LQR) control approach. The quadcopter’s mathematical model is derived using the Newton-Euler method. It is a highly manoeuvrable, nonlinear, coupled with six degrees of freedom (DOF) model, which includes aerodynamics and detailed gyroscopic moments that are often ignored in many literatures. The linearized model is obtained and characterized by the heading angle (i.e. yaw angle) of the quadcopter. The adopted control approach utilizes LQR method to track several reference trajectories including circle and helix curves with significant variation in the yaw angle. The controller is modified to overcome difficulties related to the continuous changes in the operating points and eliminate chattering and discontinuity that is observed in the control input signal. Numerical non-linear simulations are performed using MATLAB and Simulink to illustrate to accuracy and effectiveness of the proposed controller
format	Conference or Workshop Item
author	Okasha, Mohamed Elsayed Aly Abd Elaziz Shah, J. Fauzi, W Hanouf, Zahir
author_facet	Okasha, Mohamed Elsayed Aly Abd Elaziz Shah, J. Fauzi, W Hanouf, Zahir
author_sort	Okasha, Mohamed Elsayed Aly Abd Elaziz
title	Gain scheduled linear quadratic control for quadcopter
title_short	Gain scheduled linear quadratic control for quadcopter
title_full	Gain scheduled linear quadratic control for quadcopter
title_fullStr	Gain scheduled linear quadratic control for quadcopter
title_full_unstemmed	Gain scheduled linear quadratic control for quadcopter
title_sort	gain scheduled linear quadratic control for quadcopter
publisher	IOP Publishing
publishDate	2017
url	http://irep.iium.edu.my/62846/ http://irep.iium.edu.my/62846/ http://irep.iium.edu.my/62846/ http://irep.iium.edu.my/62846/1/62846%20Gain%20scheduled%20linear%20quadratic.pdf http://irep.iium.edu.my/62846/2/62846%20Gain%20scheduled%20linear%20quadratic%20SCOPUS.pdf
first_indexed	2023-09-18T21:29:03Z
last_indexed	2023-09-18T21:29:03Z
_version_	1777412387396124672

Gain scheduled linear quadratic control for quadcopter

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