Case studies on U state space control system design for quadrotor model

Narayan, Pritesh; Liu, Xin; Zhu, Quanmin; Narayan, Pritesh Praneet

Abstract

© 2016 University of MEDEA, Algeria. In this study, U-state space design is proposed to develop control systems for a standard multi-input multi-output (MIMO) quadrotor model. The desired closed loop matrix is optimally designed by the linear quadratic regulator (LQR). Then the controller output can be obtained by solving the related state equations. The standard quadrotor model is linearized about the trimmed equilibrium point and all the state variables can be measured by the sensors or estimated from related values. In the case study, a typical quadcopter linearized model is selected to demonstrate the proposed approach. The numerical simulation is performed to show the effectiveness of the designed control system.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: Proceedings of 2016 8th International Conference on Modelling, Identification and Control, ICMIC 2016
• Start Date: Nov 15, 2016
• End Date: Nov 17, 2016
• Acceptance Date: Apr 1, 2016
• Publication Date: Jan 3, 2017
• Deposit Date: Jan 23, 2017
• Peer Reviewed: Peer Reviewed
• Pages: 857-862
• Book Title: 2016 8th International Conference on Modelling, Identification and Control (ICMIC)
• ISBN: 9780956715777
• DOI: https://doi.org/10.1109/ICMIC.2016.7804234
• Keywords: U-model design approach, linear state space design, MIMO system, LQR design, quadrotor control systems
• Public URL: https://uwe-repository.worktribe.com/output/900254
• Publisher URL: http://dx.doi.org/10.1109/ICMIC.2016.7804234
• Additional Information: Title of Conference or Conference Proceedings : International Conference of Modelling, Identification and Control
• Contract Date: Apr 25, 2017