Gain scheduled linear quadratic control for quadcopter

Okasha, Mohamed Elsayed Aly Abd Elaziz and Shah, J. and Fauzi, W and Hanouf, Zahir (2017) Gain scheduled linear quadratic control for quadcopter. In: AEROS Conference, 12th December 2017, Putrajaya, Malaysia.

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Abstract

This study exploits the dynamics and control of quadcopters using Linear Quadratic Regulator (LQR) control approach. The quadcopter’s mathematical model is derived using the Newton-Euler method. It is a highly manoeuvrable, nonlinear, coupled with six degrees of freedom (DOF) model, which includes aerodynamics and detailed gyroscopic moments that are often ignored in many literatures. The linearized model is obtained and characterized by the heading angle (i.e. yaw angle) of the quadcopter. The adopted control approach utilizes LQR method to track several reference trajectories including circle and helix curves with significant variation in the yaw angle. The controller is modified to overcome difficulties related to the continuous changes in the operating points and eliminate chattering and discontinuity that is observed in the control input signal. Numerical non-linear simulations are performed using MATLAB and Simulink to illustrate to accuracy and effectiveness of the proposed controller

Item Type:	Conference or Workshop Item (Plenary Papers)
Additional Information:	3477/62846
Uncontrolled Keywords:	dynamics and controlLinear quadratic control, Linear quadratic regulator control, MATLAB and SIMULINK, Newton-Euler methods, Nonlinear simulations, Reference trajectories, Six degrees of freedom
Subjects:	T Technology > T Technology (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechanical Engineering
Depositing User:	Assist Pro ZAHIR Hanouf
Date Deposited:	20 Mar 2018 18:42
Last Modified:	26 Jun 2018 16:16
URI:	http://irep.iium.edu.my/id/eprint/62846

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