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
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