Robust control for a quadrotor UAV based on linear quadratic regulator

• Published in: Chinese Control Conference pp. 6893 - 6898
• Main Authors: Huang, Tianpeng, Huang, Deqing, Wang, Zhikai, Qin, Na, Shah, Awais
• Format: Conference Proceeding
• Language: English
• 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

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...