Evaluation performance of linear quadratic regulator and linear quadratic gaussian controllers on quadrotor platform

Okasha, Mohamed Elsayed Aly Abd Elaziz and Islam, Maidul and Sulaeman, Erwin and Legowo, Ari (2018) Evaluation performance of linear quadratic regulator and linear quadratic gaussian controllers on quadrotor platform. In: 4th International Conference on Mechanical, Automotive, and Aerospace Engineering 2018 (ICMAAE’18), 19th-20th September 2018, Kuala Lumpur. (Unpublished)

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Abstract

The purpose of this article is to evaluate the performances of the three different controllers such as Linear Quadratic Regulator (LQR), 1 DOF (Degree of Freedom) Linear Quadratic Gaussian (LQG) and 2 DOF LQG based on Quadrotor trajectory tracking and control effort. The basic algorithm of these three controllers are almost same but arrangement of some additional features like integral part and Kalman filter in 1 DOF and 2 DOF LQG make the controllers more robust comparing to LQR. Circular and Helical trajectories have been adopted in order to investigate the performance of the controllers in MATLAB/Simulink environment. Remarkably 2 DOF LQG ensures its highly robust performance when system was considered under noise and disturbances. Root Mean Square Error (RMSE) method is adopted to investigate the tracking performances of the controllers.

Item Type:	Conference or Workshop Item (Slide Presentation)
Additional Information:	690/68747
Uncontrolled Keywords:	linear quadratic regulator (LQR), Linear Quadratic Gaussian (LQG), quadrotor platform
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechanical Engineering Kulliyyah of Engineering
Depositing User:	Dr Mohamed Okasha
Date Deposited:	07 Jan 2019 11:10
Last Modified:	07 Jan 2019 11:10
URI:	http://irep.iium.edu.my/id/eprint/68747

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