Gain scheduled integral linear quadratic control for quadcopter

The findings of this paper are focused on the dynamics and control of a quadcopter using a modified version of a Linear Quadratic Regu-lator (LQR) control approach. The classical LQR control approach is extended to include an integral term to improve the quad copter tracking performance. The mathema...

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Main Authors:	Shah, Jawad, Okasha, Mohamed, Faris, Waleed Fekry
Format:	Article
Language:	English English
Published:	Science Publishing Corporation 2018
Subjects:	TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery TL Motor vehicles. Aeronautics. Astronautics
Online Access:	http://irep.iium.edu.my/68025/ http://irep.iium.edu.my/68025/ http://irep.iium.edu.my/68025/ http://irep.iium.edu.my/68025/8/68025%20Gain%20scheduled%20integral%20linear%20quadratic%20control%20for%20quadcopter.pdf http://irep.iium.edu.my/68025/9/68025%20Gain%20scheduled%20integral%20linear%20quadratic%20control%20for%20quadcopter%20SCOPUS.pdf

id	iium-68025
recordtype	eprints
spelling	iium-680252018-12-05T08:39:54Z http://irep.iium.edu.my/68025/ Gain scheduled integral linear quadratic control for quadcopter Shah, Jawad Okasha, Mohamed Faris, Waleed Fekry TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery TL Motor vehicles. Aeronautics. Astronautics The findings of this paper are focused on the dynamics and control of a quadcopter using a modified version of a Linear Quadratic Regu-lator (LQR) control approach. The classical LQR control approach is extended to include an integral term to improve the quad copter tracking performance. The mathematical model is derived using the Newton-Euler method for the nonlinear six DOF model that includes the aerodynamics and detailed gyroscopic moments as a part of the system identification process. The linearized model is obtained and it is characterized by the heading angle (yaw angle) of the quadcopter. The adopted control approach is utilizing the LQR method to track several trajectories i.e. helical and lissajous curve with significant variation in the yaw angle. The integral term is introduced to the con-troller in order to minimize the steady state errors observed. The controller is modified to overcome difficulties related to the continuous changes in the operation points and to eliminate the chattering that was observed in the control technique. Numerical non-linear simula-tions are performed using MATLAB & Simulink to illustrate to accuracy and effectiveness of the proposed controller. Science Publishing Corporation 2018 Article PeerReviewed application/pdf en http://irep.iium.edu.my/68025/8/68025%20Gain%20scheduled%20integral%20linear%20quadratic%20control%20for%20quadcopter.pdf application/pdf en http://irep.iium.edu.my/68025/9/68025%20Gain%20scheduled%20integral%20linear%20quadratic%20control%20for%20quadcopter%20SCOPUS.pdf Shah, Jawad and Okasha, Mohamed and Faris, Waleed Fekry (2018) Gain scheduled integral linear quadratic control for quadcopter. International Journal of Engineering and Technology, 7 (4.13 (Special issue 13)). pp. 81-85. ISSN 2227-524X https://www.sciencepubco.com/index.php/ijet/article/view/21334/10096 10.14419/ijet.v7i4.13.21334
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery TL Motor vehicles. Aeronautics. Astronautics
spellingShingle	TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery TL Motor vehicles. Aeronautics. Astronautics Shah, Jawad Okasha, Mohamed Faris, Waleed Fekry Gain scheduled integral linear quadratic control for quadcopter
description	The findings of this paper are focused on the dynamics and control of a quadcopter using a modified version of a Linear Quadratic Regu-lator (LQR) control approach. The classical LQR control approach is extended to include an integral term to improve the quad copter tracking performance. The mathematical model is derived using the Newton-Euler method for the nonlinear six DOF model that includes the aerodynamics and detailed gyroscopic moments as a part of the system identification process. The linearized model is obtained and it is characterized by the heading angle (yaw angle) of the quadcopter. The adopted control approach is utilizing the LQR method to track several trajectories i.e. helical and lissajous curve with significant variation in the yaw angle. The integral term is introduced to the con-troller in order to minimize the steady state errors observed. The controller is modified to overcome difficulties related to the continuous changes in the operation points and to eliminate the chattering that was observed in the control technique. Numerical non-linear simula-tions are performed using MATLAB & Simulink to illustrate to accuracy and effectiveness of the proposed controller.
format	Article
author	Shah, Jawad Okasha, Mohamed Faris, Waleed Fekry
author_facet	Shah, Jawad Okasha, Mohamed Faris, Waleed Fekry
author_sort	Shah, Jawad
title	Gain scheduled integral linear quadratic control for quadcopter
title_short	Gain scheduled integral linear quadratic control for quadcopter
title_full	Gain scheduled integral linear quadratic control for quadcopter
title_fullStr	Gain scheduled integral linear quadratic control for quadcopter
title_full_unstemmed	Gain scheduled integral linear quadratic control for quadcopter
title_sort	gain scheduled integral linear quadratic control for quadcopter
publisher	Science Publishing Corporation
publishDate	2018
url	http://irep.iium.edu.my/68025/ http://irep.iium.edu.my/68025/ http://irep.iium.edu.my/68025/ http://irep.iium.edu.my/68025/8/68025%20Gain%20scheduled%20integral%20linear%20quadratic%20control%20for%20quadcopter.pdf http://irep.iium.edu.my/68025/9/68025%20Gain%20scheduled%20integral%20linear%20quadratic%20control%20for%20quadcopter%20SCOPUS.pdf
first_indexed	2023-09-18T21:36:35Z
last_indexed	2023-09-18T21:36:35Z
_version_	1777412860851257344

Gain scheduled integral linear quadratic control for quadcopter

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