Feedback Linearization with LQR Control Approach for Quadrotor Trajectory Tracking
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Date
2021-11
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Addis Ababa University
Abstract
A quadrotor is a type of helicopter which is lifted and propelled by four rotor.Quadrotor’s
are used for variety application due to reason of mechanically simple,small size and
low inertia.But controlling quadrotor is a challenging task because of non linearity
and underactuacted character of the dynamics.
In this thesis work,the dynamic model of the quadrotor is derived,by using NewtonEuler
formulation.Then a nonlinear control approach which is a feedback linearization
technique is used .
Feedback linearization technique is used to linearize both the translational and rotational
dynamics.Here during linearization an auxiliary control inputs arises and
those linear control inputs are found through linear control technique called linear
quadratic regulator.Constant trajectory tracking and rectangular trajectory tracking
is also obtained by controlling the attitude and the position simultaneously.
The quadrotor dynamic model and the controller design is developed using MATLAB
simulation and the dynamics model is tested with step input for each control
inputs.The effectiveness of the proposed controller is tested with disturbance and
without disturbance through MATLAB simulation.It is observed that,on the constant
tracking simulation result the step input response have good settling time
response.It achieve the desired 100m position on the settling time of x 19.42 sec, y
19.5 sec and z 11.4 sec .
Description
Keywords
Quadrotor, nonlinear control, Feedback Linearization controller(FBL), Auxiliary control, Linear quadratic regulator controller(LQR), MATLAB simulation