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Gain scheduled linear quadratic control for quadcopter

This study exploits the dynamics and control of quadcopters using Linear Quadratic Regulator (LQR) control approach. The quadcopter’s mathematical model is derived using the Newton-Euler method. It is a highly manoeuvrable, nonlinear, coupled with six degrees of freedom (DOF) model, which include...

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Main Authors: Okasha, Mohamed Elsayed Aly Abd Elaziz, Shah, J., Fauzi, W, Hanouf, Zahir
Format: Conference or Workshop Item
Language:English
English
Published: IOP Publishing 2017
Subjects:
T Technology (General)
Online Access:http://irep.iium.edu.my/62846/1/62846%20Gain%20scheduled%20linear%20quadratic.pdf
http://irep.iium.edu.my/62846/2/62846%20Gain%20scheduled%20linear%20quadratic%20SCOPUS.pdf
http://irep.iium.edu.my/62846/
http://iopscience.iop.org/article/10.1088/1757-899X/270/1/012009/pdf
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spelling my.iium.irep.62846 http://irep.iium.edu.my/62846/ Gain scheduled linear quadratic control for quadcopter Okasha, Mohamed Elsayed Aly Abd Elaziz Shah, J. Fauzi, W Hanouf, Zahir T Technology (General) This study exploits the dynamics and control of quadcopters using Linear Quadratic Regulator (LQR) control approach. The quadcopter’s mathematical model is derived using the Newton-Euler method. It is a highly manoeuvrable, nonlinear, coupled with six degrees of freedom (DOF) model, which includes aerodynamics and detailed gyroscopic moments that are often ignored in many literatures. The linearized model is obtained and characterized by the heading angle (i.e. yaw angle) of the quadcopter. The adopted control approach utilizes LQR method to track several reference trajectories including circle and helix curves with significant variation in the yaw angle. The controller is modified to overcome difficulties related to the continuous changes in the operating points and eliminate chattering and discontinuity that is observed in the control input signal. Numerical non-linear simulations are performed using MATLAB and Simulink to illustrate to accuracy and effectiveness of the proposed controller IOP Publishing 2017 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/62846/1/62846%20Gain%20scheduled%20linear%20quadratic.pdf application/pdf en http://irep.iium.edu.my/62846/2/62846%20Gain%20scheduled%20linear%20quadratic%20SCOPUS.pdf Okasha, Mohamed Elsayed Aly Abd Elaziz and Shah, J. and Fauzi, W and Hanouf, Zahir (2017) Gain scheduled linear quadratic control for quadcopter. In: AEROS Conference, 12th December 2017, Putrajaya, Malaysia. http://iopscience.iop.org/article/10.1088/1757-899X/270/1/012009/pdf 10.1088/1757-899X/270/1/012009
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
English
topic T Technology (General)
spellingShingle T Technology (General)
Okasha, Mohamed Elsayed Aly Abd Elaziz
Shah, J.
Fauzi, W
Hanouf, Zahir
Gain scheduled linear quadratic control for quadcopter
description This study exploits the dynamics and control of quadcopters using Linear Quadratic Regulator (LQR) control approach. The quadcopter’s mathematical model is derived using the Newton-Euler method. It is a highly manoeuvrable, nonlinear, coupled with six degrees of freedom (DOF) model, which includes aerodynamics and detailed gyroscopic moments that are often ignored in many literatures. The linearized model is obtained and characterized by the heading angle (i.e. yaw angle) of the quadcopter. The adopted control approach utilizes LQR method to track several reference trajectories including circle and helix curves with significant variation in the yaw angle. The controller is modified to overcome difficulties related to the continuous changes in the operating points and eliminate chattering and discontinuity that is observed in the control input signal. Numerical non-linear simulations are performed using MATLAB and Simulink to illustrate to accuracy and effectiveness of the proposed controller
format Conference or Workshop Item
author Okasha, Mohamed Elsayed Aly Abd Elaziz
Shah, J.
Fauzi, W
Hanouf, Zahir
author_facet Okasha, Mohamed Elsayed Aly Abd Elaziz
Shah, J.
Fauzi, W
Hanouf, Zahir
author_sort Okasha, Mohamed Elsayed Aly Abd Elaziz
title Gain scheduled linear quadratic control for quadcopter
title_short Gain scheduled linear quadratic control for quadcopter
title_full Gain scheduled linear quadratic control for quadcopter
title_fullStr Gain scheduled linear quadratic control for quadcopter
title_full_unstemmed Gain scheduled linear quadratic control for quadcopter
title_sort gain scheduled linear quadratic control for quadcopter
publisher IOP Publishing
publishDate 2017
url http://irep.iium.edu.my/62846/1/62846%20Gain%20scheduled%20linear%20quadratic.pdf
http://irep.iium.edu.my/62846/2/62846%20Gain%20scheduled%20linear%20quadratic%20SCOPUS.pdf
http://irep.iium.edu.my/62846/
http://iopscience.iop.org/article/10.1088/1757-899X/270/1/012009/pdf
_version_ 1643617094739165184
score 13.211869

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