Trajectory tracking in quadrotor platform by using PD controller and LQR control approach

Islam, Maidul and Okasha, Mohamed Elsayed Aly Abd Elaziz and Mahmoud Idres, Moumen Mohammed (2017) Trajectory tracking in quadrotor platform by using PD controller and LQR control approach. In: 6th International Conference on Mechatronics (ICOM'17), 8th–9th August 2017, Kuala Lumpur, Malaysia.

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Abstract

The purpose of the paper is to discuss a comparative evaluation of performance of two different controllers i.e. Proportional-Derivative Controller (PD) and Linear Quadratic Regulation (LQR) in Quadrotor dynamic system that is under-actuated with high nonlinearity. As only four states can be controlled at the same time in the Quadrotor, the trajectories are designed on the basis of the four states whereas three dimensional position and rotation along an axis, known as yaw movement are considered. In this work, both the PD controller and LQR control approach are used for Quadrotor nonlinear model to track the trajectories. LQR control approach for nonlinear model is designed on the basis of a linear model of the Quadrotor because the performance of linear model and nonlinear model around certain nominal point is almost similar. Simulink and MATLAB software is used to design the controllers and to evaluate the performance of both the controllers.

Item Type:	Conference or Workshop Item (Plenary Papers)
Additional Information:	6908/62940
Uncontrolled Keywords:	Comparative evaluations,Dimensional position,High nonlinearity,Linear quadratic regulations,Matlab- software,Non-linear model, Proportional-derivative controllers, Trajectory tracking
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:	Dr Mohamed Okasha
Date Deposited:	22 Mar 2018 10:11
Last Modified:	17 Aug 2019 20:30
URI:	http://irep.iium.edu.my/id/eprint/62940

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