Attitude control of a quadrotor aircraft using LQR state feedback controller with full order state observer

Proceedings of the SICE Annual Conference

Volumn , Issue , 2013, Pages 2041-2046

  Panomrattanarug, Benjamas ^a   Higuchi, Kohji ^b   Mora Camino, Félix ^c  

^a KING MONGKUT'S UNIVERSITY OF TECHNOLOGY THONBURI   (Thailand)

^b UNIVERSITY OF ELECTRO COMMUNICATIONS   (Japan)

^c Applied Math Laboratory   (France)

Author keywords

Aircraft; Attitude control; LQR; Quadrotor

Indexed keywords

AIRCRAFT; ATTITUDE CONTROL; INFORMATION TECHNOLOGY; STATE FEEDBACK; TIME DOMAIN ANALYSIS; CONTROLLERS;

DISCRETE TIME-DOMAIN; LQR; OPTIMIZATION TECHNIQUES; QUAD ROTORS; STATE FEEDBACK CONTROLLER; STATE OBSERVER; STATE VARIABLES; TRACKING PERFORMANCE;

CONTROLLERS; ATTITUDE CONTROL;

EID: 84888629436     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (20)

1. Y. Li and S. Song, "A Survey of Control Algorithms for Quadrotor Unmanned Helicopter, " International Conference on Advanced Computational Intelligence (ICACI), Nanjing, China, pp. 365-369, 2012.
2. A. L. Salih, M. Moghavvemi, and A. F. Mohamed, "Flight PID Controller Design for a UAV Quadrotor, " Scientific Research and Essays, Vol. 5, No. 23, pp. 3660-3667, 2010.
3. G. V. Salvador and M. V. Javier, "A New Nonlinear PI/PID Controller for Quadrotor Posture Regulation, " International Conference on Electronics, Robotics and Automotive Mechanics, CERMA, pp.643-647, 2010.
4. J. Su, P. Fan, and K. Cai, "Attitude Control of Quadrotor Aircraft via Nonlinear PID, " Journal of Beijing University of Aeronautics and Astronautics, Vol. 37, No. 9, pp.1054-1059, 2011.
5. Y. Gao, D. Chen, and R. Li, "Research on Control Algorithm of Microquadrotor Aircraft, " Computer and Modernization, 10, pp.4-7, 2011.
6. B. Erginer and A. Erdin, "Design and Implementation of a Hybrid Fuzzy Controller for a Quadrotor VTOL Vehicle, " International Journal of Control, Automa- Tion and Systems, Vol. 10, No. 1, pp.61-70, 2012.
7. S. Theerasak, L. Pined, and C. Wonlop, "A Path Tracking of UAV Using Self-Tuning PID Controller Based on Fuzzy Logic, " SICE Annual Conference, Taiwan, pp.1265-1269, 2010.
8. E. Mehmet, "Neural Network Assisted Computationally Simple PID Control of a Quadrotor UAV, " IEEE Transactions on Industrial Informatics, Vol. 7, No. 2, pp.354-361, 2011.
9. M. Chen and M. Huzmezan, "A Combined MBPC/2 DOF H1-Controllers for a QuadRotor UAV, " IEEE Conference on Decision and Control, pp.6124-6133, 2007.
10. M. Chen and M. Huzmezan, "A Simulation Model and H1-Loop Shaping Control of a Quad Rotor Unmanned Air Vehicle, ", International Conference on Modeling Simulation and Optimization, pp.320-325, 2003.
11. P. Chen and J. Luo, "Modeling and H1 of Quadrotor and Design of Loop Shaping Controller, " Journal of Nanjing University of Technology, Vol. 33, No. 1, pp.81-86, 2009.
12. L. Besnard, Y. B. Shtessel, and B. Landrum, "Quadrotor Vehicle Control via Sliding Mode Controller Driven by Sliding Mode Disturbance Ob- server, " Journal of the Franklin Institute, pp.1-27, 2011.
13. H. Voos, "Nonlinear Control of a Quadrotor Micro- UAV Using Feedback Linearization, " International Conference on Mechatronics, 2009.
14. A. Mokhtari, A. Benallegue, and B. Daachi, "Robust Feedback Linearization and GH1 Controller for a Quadrotor Unmanned Aerial Vehicle, " Interna- Tional Conference on Intelligent Robots and Systems, pp. 1009-1014, 2005.
15. S. Bouabdallah and R. Siegwart, "Full Control of a Quadrotor, " IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Diego, CA, USA, pp. 153158, 2007.
16. Z. Zuo, "Trajectory Tracking Control Design with Command-Filtered Compensation for a Quadrotor, " IET Control Theory Appl., Vol. 4, No. 11, pp. 23432355, 2010.
17. A. Das, F. Lewis, and K. Subbarao, "Backstepping Approach for Controlling a Quadrotor Using Lagrange form Dynamics, " J. Intell. Robot. Syst., Vol. 56, No. 1, pp. 127151, 2009.
18. I. D. Cowling, O. A. Yakimenko, J. F. Whidborne, and A. K. Cooke, "A Prototype of an Autonomous Controller for a Quadrotor UAV, " European Control Conference, Greece, pp.532-536, 2007.
19. M. Gopal, "Digital Control and State Variable Methods book", Mcgraw-Hill Education, 2008, ISBN-13: 978-0071237253.
20. B. M. Wilamowski and J. D. Irwin, "The Industrial Electronics Handbook: Intelligent systems, " Taylor Francis Group, 2011, ISBN 1439802890.