Quadrotor Attitude and Altitude Tracking Control Using Finite Discrete-Time Linear Quadratic Tracking Controller

Document Type

Conference Proceeding

Publication Date

1-1-2022

Publication Title

IFAC-PapersOnLine

Volume

55

Issue

10

First Page

2962

Keywords

LQT control, Parameter uncertainty, Quadrotor, Wind disturbance

Last Page

2967

Abstract

In this paper, an optimal finite discrete-time linear quadratic tracking (LQT) control method is proposed to control the altitude and attitude of a quadrotor. First, the dynamic model of the quadrotor is derived using Newton-Euler equations. Next, non-linear equations of the quadrotor are written in the state space form and linearized around an equilibrium point. Then, continuous-time linear state-space equations are converted into discrete-time equations considering a specific sampling time. Moreover, the controller design process is completed by determining the performance index and the weighting matrices, and the optimal control input is acquired for the closed-loop system. In the end, the simulation results are shown to demonstrate the robustness of the controller against parameter uncertainties and show its performance in attenuating the external disturbance effect.

DOI

10.1016/j.ifacol.2022.10.182

E-ISSN

24058963

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