Feedback Linearization with LQR Control Approach for Quadrotor Trajectory Tracking
| dc.contributor.advisor | Lebsework, Negash (PhD) | |
| dc.contributor.advisor | Dereje, Shiferaw (PhD) | |
| dc.contributor.author | Betsega, Yosef | |
| dc.date.accessioned | 2022-05-27T09:45:20Z | |
| dc.date.accessioned | 2023-11-28T14:20:38Z | |
| dc.date.available | 2022-05-27T09:45:20Z | |
| dc.date.available | 2023-11-28T14:20:38Z | |
| dc.date.issued | 2021-11 | |
| dc.description.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 . | en_US |
| dc.identifier.uri | http://etd.aau.edu.et/handle/12345678/31802 | |
| dc.publisher | Addis Ababa University | en_US |
| dc.subject | Quadrotor | en_US |
| dc.subject | nonlinear control | en_US |
| dc.subject | Feedback Linearization controller(FBL) | en_US |
| dc.subject | Auxiliary control | en_US |
| dc.subject | Linear quadratic regulator controller(LQR) | en_US |
| dc.subject | MATLAB simulation | en_US |
| dc.title | Feedback Linearization with LQR Control Approach for Quadrotor Trajectory Tracking | en_US |
| dc.type | Thesis | en_US |