Stabilization problem a quadrotor using a linear-quadratic regulator: modelling and practice

被引：0
|
作者：
Tkachenko, A. A. [1 ]
Trenev, I. S. [1 ]
Yurchenkov, A., V [1 ,2 ]
机构：
[1] Russian Acad Sci, VA Trapeznikov Inst Control Sci, Moscow, Russia
[2] Bauman Moscow State Tech Univ, Baumanskaya 2 Ya St, Moscow 105005, Russia
来源：
IFAC PAPERSONLINE | 2021年 / 54卷 / 13期
关键词：
control; stabilization; linearization; quadrotor; LQR; Matlab;
D O I：
10.1016/j.ifacol.2021.10.489
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper considers the application of LQR-synthesis to the simulation of a quadrotor flight, implemented in the Matlab environment. An example of the implementation of a control algorithm for 3D modeling is presented. This simulation is necessary to establish the correctness of the derived mathematical model and the operability of the designed regulator before using the physical model of the device based on the Pixhawk flight controller. Copyright (C) 2021 The Authors.
引用
收藏
页码：449 / 453
页数：5
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