Trajectory tracking in quadrotor platform by using PD controller and LQR control approach
The purpose of the paper is to discuss a comparative evaluation of performance of two different controllers i.e. Proportional-Derivative Controller (PD) and Linear Quadratic Regulation (LQR) in Quadrotor dynamic system that is under-actuated with high nonlinearity. As only four states can be cont...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English English English |
| Published: |
IOP Publishing
2017
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/62940/ http://irep.iium.edu.my/62940/ http://irep.iium.edu.my/62940/ http://irep.iium.edu.my/62940/1/62940%20Trajectory%20tracking%20in%20quadrotor%20platform.pdf http://irep.iium.edu.my/62940/2/62940%20Trajectory%20tracking%20in%20quadrotor%20platform%20SCOPUS.pdf http://irep.iium.edu.my/62940/13/62940_Trajectory%20tracking%20in%20quadrotor_wos.pdf |
| Summary: | The purpose of the paper is to discuss a comparative evaluation of performance of
two different controllers i.e. Proportional-Derivative Controller (PD) and Linear Quadratic
Regulation (LQR) in Quadrotor dynamic system that is under-actuated with high nonlinearity.
As only four states can be controlled at the same time in the Quadrotor, the trajectories are
designed on the basis of the four states whereas three dimensional position and rotation along an
axis, known as yaw movement are considered. In this work, both the PD controller and LQR
control approach are used for Quadrotor nonlinear model to track the trajectories. LQR control
approach for nonlinear model is designed on the basis of a linear model of the Quadrotor because
the performance of linear model and nonlinear model around certain nominal point is almost
similar. Simulink and MATLAB software is used to design the controllers and to evaluate the
performance of both the controllers. |
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