LQG-I control for attitude stabilization of V8 octorotor flying robot

Small aerial vehicles have gained strategic importance in many urban applications such as aerial photography. V8 configuration is a multirotor design hardly investigated in the field of flying robots. Dynamical model of V8 octorotor is derived and linearized using small perturbations method. Validit...

Full description

Saved in:
Bibliographic Details
Published in2016 Artificial Intelligence and Robotics (IRANOPEN) pp. 151 - 157
Main Authors Sadeghi, Parichehr Shahidi, Shahri, Alireza Mohammad, Ardestani, Mahdi Alinaghizadeh, Rezazadeh, Sina
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.04.2016
Subjects
Brushless DC motors
integral action
linearization
LQG
MATLAB
Radio frequency
small perturbations
V8 octorotor
Online AccessGet full text

Cover

More Information
Summary:Small aerial vehicles have gained strategic importance in many urban applications such as aerial photography. V8 configuration is a multirotor design hardly investigated in the field of flying robots. Dynamical model of V8 octorotor is derived and linearized using small perturbations method. Validity of linearization is proved through comparison with nonlinear behavior. Linear quadratic Gaussian control approach together with an integral action is designed to stabilize octorotor attitude angles. Control performance is compared with PID and LQR methods which indicated proposed controller provides better results while maintaining efficient energy usage.
DOI:10.1109/RIOS.2016.7529506