Finite-Horizon LQR Control of Quadrotors on SE2(3)
This letter considers optimal control of a quadrotor unmanned aerial vehicles (UAV) using the discrete-time, finite-horizon, linear quadratic regulator (LQR). The state of a quadrotor UAV is represented as an element of the matrix Lie group of double direct isometries, SE2(3). The nonlinear system i...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English en_US |
| Published: |
Institute of Electrical and Electronics Engineers Inc.
2024
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