PID and LQR trajectory tracking control for an unmanned quadrotor helicopter: Experimental studies

The paper presents two trajectory tracking control strategies for an Unmanned Aerial Vehicle (UAV), Quanser Qball-X4 quadrotor. The mathematical model of the quadrotor Quanser Qball-X4 are studied. Based on the model, the Proportional-Integral-Derivative (PID) controller and Linear Quadratic Regulat...

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Bibliographic Details
Published inChinese Control Conference pp. 10845 - 10850
Main Authors Liu, Changlong, Pan, Jian, Chang, Yufang
Format Conference Proceeding Journal Article
LanguageEnglish
Published TCCT 01.07.2016
Subjects
Actuators
Controllers
Linear quadratic regulator
Linear Quadratic Regulator (LQR)
Mathematical model
Mathematical models
Propellers
Proportional integral derivative
Proportional-Integral-Derivative (PID)
Quadrotor
Rotorcraft
Software
Strategy
Tracking control
Trajectories
Trajectory tracking
Vehicles
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ISSN1934-1768
DOI10.1109/ChiCC.2016.7555074

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Summary:The paper presents two trajectory tracking control strategies for an Unmanned Aerial Vehicle (UAV), Quanser Qball-X4 quadrotor. The mathematical model of the quadrotor Quanser Qball-X4 are studied. Based on the model, the Proportional-Integral-Derivative (PID) controller and Linear Quadratic Regulator (LQR) controller are designed to solve trajectory tracking problem for a Qball-X4. Simulations and experiments are carried out to compare the effectiveness of the designed control strategies.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
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SourceType-Conference Papers & Proceedings-2
ISSN:1934-1768
DOI:10.1109/ChiCC.2016.7555074