Model reference adaptive control and LQR control for quadrotor with parametric uncertainties

Abdul Ghaffar, Alia Farhana and Richardson, Tom (2015) Model reference adaptive control and LQR control for quadrotor with parametric uncertainties. International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering, 9 (2). pp. 244-250. ISSN 1307-6892

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Abstract

A model reference adaptive control and a fixed gain LQR control were implemented in the height controller of a quadrotor that has parametric uncertainties due to the act of picking up an object of unknown dimension and mass. It is shown that an adaptive controller, unlike the fixed gain controller, is capable of ensuring a stable tracking performance under such condition, although adaptive control suffers from several limitation. The combination of both adaptive and fixed gain control in the controller architecture can result in an enhanced tracking performance in the presence of parametric uncertainties.

Item Type:	Article (Journal)
Additional Information:	8300/69541
Uncontrolled Keywords:	adaptive control, LQR, quadrotor, UAV
Subjects:	T Technology > T Technology (General) T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering
Depositing User:	Dr Alia Farhana Abdul Ghaffar
Date Deposited:	03 Apr 2019 15:27
Last Modified:	03 Apr 2019 15:27
URI:	http://irep.iium.edu.my/id/eprint/69541

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