A New Feedback Linearization LQR Control for Attitude of Quadrotor

被引：0
|
作者：
Zhao Shulong [1 ]
An Honglei [1 ]
Zhang Daibing [1 ]
Shen Lincheng [1 ]
机构：
[1] Natl Univ Def Technol, Sch Mech & Automat, Changsha 410073, Hunan, Peoples R China
来源：
2014 13TH INTERNATIONAL CONFERENCE ON CONTROL AUTOMATION ROBOTICS & VISION (ICARCV) | 2014年
关键词：
quadrotor; feedback linearization; LQR; nonlinear;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a new robust and stable controller for attitude of quadrotor. We proposed a combination of feedback linearization and LQR (linear quadratic regulator) control strategy. To our best acknowledge, this method is firstly employed to stabilize the attitude of the quadrotor with disturbance. Numerical simulations demonstrate the stabilizations and robustness of the control system under nominal conditions. Furthermore, a bounded disturbance was added to the system in flight test, and the results also illustrate the successful behavior of the controller proposed.
引用
收藏
页码：1593 / 1597
页数：5
相关论文
共 50 条
  • [1] Feedback Linearization LQR Control for Quadcopter Position Tracking
    Kuantama, Endrowednes
    Tarca, Ioan
    Tarca, Radu
    [J]. 2018 5TH INTERNATIONAL CONFERENCE ON CONTROL, DECISION AND INFORMATION TECHNOLOGIES (CODIT), 2018, : 204 - 209
  • [2] Attitude Control of a Quadrotor Aircraft Using LQR State Feedback Controller with Full Order State Observer
    Panomrattanarug, Benjamas
    Higuchi, Kohji
    Mora-Camino, Felix
    [J]. 2013 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE), 2013, : 2041 - 2046
  • [3] Feedback Linearization with Zero Dynamics Stabilization for Quadrotor Control
    Martins, Luis
    Cardeira, Carlos
    Oliveira, Paulo
    [J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2021, 101 (01)
  • [4] QUADROTOR CONTROL USING FEEDBACK LINEARIZATION WITH DYNAMIC EXTENSION
    Al-Hiddabi, Saif A.
    [J]. 2009 6TH INTERNATIONAL SYMPOSIUM ON MECHATRONICS AND ITS APPLICATIONS (ISMA), 2009, : 82 - 84
  • [5] A Feedback Linearization and Saturated Control Structure for Quadrotor UAV
    Jiang, Hongru
    Xia, Yuanqing
    Hu, Rui
    Ma, Dailiang
    Hao, Chenxi
    [J]. PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC), 2019, : 8277 - 8282
  • [6] Feedback Linearization with Zero Dynamics Stabilization for Quadrotor Control
    Luís Martins
    Carlos Cardeira
    Paulo Oliveira
    [J]. Journal of Intelligent & Robotic Systems, 2021, 101
  • [7] Position & Attitude Control of an Aerial Robot (Quadrotor) With Intelligent PID and State feedback LQR Controller: A Comparative Approach
    Shehzad, Muhammad Faisal
    Bilal, Ahmad
    Ahmad, Hasnain
    [J]. PROCEEDINGS OF 2019 16TH INTERNATIONAL BHURBAN CONFERENCE ON APPLIED SCIENCES AND TECHNOLOGY (IBCAST), 2019, : 340 - 346
  • [8] Embedded Model Control for UAV Quadrotor via Feedback Linearization
    Lotufo, M. A.
    Colangelo, L.
    Perez-Montenegro, C.
    Novara, C.
    Canuto, E.
    [J]. IFAC PAPERSONLINE, 2016, 49 (17): : 266 - 271
  • [9] Feedback Linearization and Continuous Sliding Mode Control for a Quadrotor UAV
    Fang, Zhou
    Zhi, Zhang
    Jun, Liang
    Jian, Wang
    [J]. PROCEEDINGS OF THE 27TH CHINESE CONTROL CONFERENCE, VOL 2, 2008, : 349 - 353
  • [10] LQR Feedback Linearization Method to Control the Motions of a Spherical Serial Mechanism
    Larbi, Meziane
    Belharet, Karim
    Guechi, El-Hadi
    [J]. 2020 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2020, : 1216 - 1221
12345