Robust control for a quadrotor UAV based on linear quadratic regulator

In the paper, a linear quadratic regulator is developed for the control of a quadrotor subject to external disturbance. The nonlinear mathematical model of quadrotor is converted to a linear model by using feedback linearization technique. The control inputs of quadrotor system are derived based on...

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Bibliographic Details
Published inChinese Control Conference pp. 6893 - 6898
Main Authors Huang, Tianpeng, Huang, Deqing, Wang, Zhikai, Qin, Na, Shah, Awais
Format Conference Proceeding
LanguageEnglish
Published Technical Committee on Control Theory, Chinese Association of Automation 01.07.2020
Subjects
Attitude control
experiment
external disturbance
linear quadratic regulator
Mathematical model
Numerical models
Quadrotor
Regulators
Rotors
Unmanned aerial vehicles
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Summary:In the paper, a linear quadratic regulator is developed for the control of a quadrotor subject to external disturbance. The nonlinear mathematical model of quadrotor is converted to a linear model by using feedback linearization technique. The control inputs of quadrotor system are derived based on linear quadratic regulator (LQR) theory. The effectiveness of the proposed algorithm has been demonstrated via simulation and real experiment.
ISSN:1934-1768
DOI:10.23919/CCC50068.2020.9188679