Feedback Linearization LQR Control for Quadcopter Position Tracking
| Autor: | Ioan Tarca, Endrowednes Kuantama, Radu Tarca |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Quadcopter Computer science 020209 energy PID controller 02 engineering and technology Aerodynamics Linear-quadratic regulator 020901 industrial engineering & automation Control theory Robustness (computer science) Bounded function Control system 0202 electrical engineering electronic engineering information engineering Feedback linearization |
| Zdroj: | CoDIT |
| DOI: | 10.1109/codit.2018.8394911 |
| Popis: | Non-linear dynamic movement of quadcopter was analyzed using position tracking method in a circular trajectory. The result was used to obtain control system algorithm which can enhance maneuver ability. The control system was modelled into feedback linearization and LQR (Linear Quadratic Regulator) controller, both were used to stabilize quadcopter attitude in the trajectory. Quadcopter behavior while using feedback linearization modeling and LQR control were clearly seen in pitch-roll position in circular trajectory and at the time of bounded disturbance. Wind parameter appraisal was added to boost the robustness. To get optimal result, overall control system was tuned with PID (Proportional Integral Derivative) loop control. The study showed that adjustment of the weight variable on LQR and coefficient on PID resulted in better stability and performance of quadcopter dynamic movement. Overall, control algorithm for modeling had the capability to reject disturbance although small error still occurred in the output trajectories tracking. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|