Feedback Linearization LQR Control for Quadcopter Position Tracking

2018 5th International Conference on Control, Decision and Information Technologies (CoDIT)(2018)

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摘要
Non-linear dynamic movement of quadcopter was analyzed using position tracking method in a circular trajectory. The result was used to obtain control system algorithm which can enhance maneuver ability. The control system was modelled into feedback linearization and LQR (Linear Quadratic Regulator) controller, both were used to stabilize quadcopter attitude in the trajectory. Quadcopter behavior while using feedback linearization modeling and LQR control were clearly seen in pitch-roll position in circular trajectory and at the time of bounded disturbance. Wind parameter appraisal was added to boost the robustness. To get optimal result, overall control system was tuned with PID (Proportional Integral Derivative) loop control. The study showed that adjustment of the weight variable on LQR and coefficient on PID resulted in better stability and performance of quadcopter dynamic movement. Overall, control algorithm for modeling had the capability to reject disturbance although small error still occurred in the output trajectories tracking.
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关键词
quadcopter position tracking,non-linear dynamic movement,quadcopter attitude stability,Proportional Integral Derivative loop control,Linear Quadratic Regulator,feedback linearization LQR control,output trajectories tracking,quadcopter dynamic movement,PID loop control,circular trajectory,pitch-roll position
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