Gain scheduled integral linear quadratic control for quadcopter

Shah, Jawad and Okasha, Mohamed and Faris, Waleed Fekry (2018) Gain scheduled integral linear quadratic control for quadcopter. International Journal of Engineering and Technology, 7 (4.13 (Special issue 13)). pp. 81-85. ISSN 2227-524X

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Abstract

The findings of this paper are focused on the dynamics and control of a quadcopter using a modified version of a Linear Quadratic Regu-lator (LQR) control approach. The classical LQR control approach is extended to include an integral term to improve the quad copter tracking performance. The mathematical model is derived using the Newton-Euler method for the nonlinear six DOF model that includes the aerodynamics and detailed gyroscopic moments as a part of the system identification process. The linearized model is obtained and it is characterized by the heading angle (yaw angle) of the quadcopter. The adopted control approach is utilizing the LQR method to track several trajectories i.e. helical and lissajous curve with significant variation in the yaw angle. The integral term is introduced to the con-troller in order to minimize the steady state errors observed. The controller is modified to overcome difficulties related to the continuous changes in the operation points and to eliminate the chattering that was observed in the control technique. Numerical non-linear simula-tions are performed using MATLAB & Simulink to illustrate to accuracy and effectiveness of the proposed controller.

Item Type:	Article (Journal)
Additional Information:	6908/68025
Uncontrolled Keywords:	quadcopter; LQR; gain scheduled; dynamics and control.
Subjects:	T Technology > TA Engineering (General). Civil engineering (General) T Technology > TJ Mechanical engineering and machinery T Technology > TL Motor vehicles. Aeronautics. Astronautics
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering Kulliyyah of Engineering > Department of Mechanical Engineering
Depositing User:	Dr Mohamed Okasha
Date Deposited:	05 Dec 2018 16:39
Last Modified:	05 Dec 2018 16:39
URI:	http://irep.iium.edu.my/id/eprint/68025

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