Design and Analysis of a Linear Controller for Parrot AR Drone 2.0
2022 International Conference on Electrical and Computing Technologies and Applications (ICECTA)(2022)
摘要
This paper aims to present the design and analysis of a Parrot AR Drone 2.0 linear controller. We investigate the system’s properties through its state-space representation. We then describe the construction of a state-feedback controller and observer based on the pole-placement method in order to stabilize and yield better control of the system. After that, we construct a Linear Quadratic Regulator (LQR) for trajectory tracking and improving the system’s performance. Finally, Simulink is used to observe the system’s performance when wind disturbance is introduced.
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关键词
Feedback control,state-space,stability,controllability,observability
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