Gain scheduled linear quadratic control for quadcopter
This study exploits the dynamics and control of quadcopters using Linear Quadratic Regulator (LQR) control approach. The quadcopter’s mathematical model is derived using the Newton-Euler method. It is a highly manoeuvrable, nonlinear, coupled with six degrees of freedom (DOF) model, which include...
| Main Authors: | , , , |
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| Format: | Proceeding Paper |
| Language: | English English |
| Published: |
IOP Publishing
2017
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/62846/ http://irep.iium.edu.my/62846/1/62846%20Gain%20scheduled%20linear%20quadratic.pdf http://irep.iium.edu.my/62846/2/62846%20Gain%20scheduled%20linear%20quadratic%20SCOPUS.pdf |
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| author | Okasha, Mohamed Elsayed Aly Abd Elaziz Shah, J. Fauzi, W Hanouf, Zahir |
| author_facet | Okasha, Mohamed Elsayed Aly Abd Elaziz Shah, J. Fauzi, W Hanouf, Zahir |
| author_sort | Okasha, Mohamed Elsayed Aly Abd Elaziz |
| building | IIUM Repository |
| collection | Online Access |
| description | This study exploits the dynamics and control of quadcopters using Linear Quadratic
Regulator (LQR) control approach. The quadcopter’s mathematical model is derived using the
Newton-Euler method. It is a highly manoeuvrable, nonlinear, coupled with six degrees of
freedom (DOF) model, which includes aerodynamics and detailed gyroscopic moments that are
often ignored in many literatures. The linearized model is obtained and characterized by the
heading angle (i.e. yaw angle) of the quadcopter. The adopted control approach utilizes LQR
method to track several reference trajectories including circle and helix curves with significant
variation in the yaw angle. The controller is modified to overcome difficulties related to the
continuous changes in the operating points and eliminate chattering and discontinuity that is
observed in the control input signal. Numerical non-linear simulations are performed using
MATLAB and Simulink to illustrate to accuracy and effectiveness of the proposed controller |
| first_indexed | 2025-11-14T17:00:47Z |
| format | Proceeding Paper |
| id | iium-62846 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-14T17:00:47Z |
| publishDate | 2017 |
| publisher | IOP Publishing |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-628462018-06-26T08:16:27Z http://irep.iium.edu.my/62846/ Gain scheduled linear quadratic control for quadcopter Okasha, Mohamed Elsayed Aly Abd Elaziz Shah, J. Fauzi, W Hanouf, Zahir T Technology (General) This study exploits the dynamics and control of quadcopters using Linear Quadratic Regulator (LQR) control approach. The quadcopter’s mathematical model is derived using the Newton-Euler method. It is a highly manoeuvrable, nonlinear, coupled with six degrees of freedom (DOF) model, which includes aerodynamics and detailed gyroscopic moments that are often ignored in many literatures. The linearized model is obtained and characterized by the heading angle (i.e. yaw angle) of the quadcopter. The adopted control approach utilizes LQR method to track several reference trajectories including circle and helix curves with significant variation in the yaw angle. The controller is modified to overcome difficulties related to the continuous changes in the operating points and eliminate chattering and discontinuity that is observed in the control input signal. Numerical non-linear simulations are performed using MATLAB and Simulink to illustrate to accuracy and effectiveness of the proposed controller IOP Publishing 2017 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/62846/1/62846%20Gain%20scheduled%20linear%20quadratic.pdf application/pdf en http://irep.iium.edu.my/62846/2/62846%20Gain%20scheduled%20linear%20quadratic%20SCOPUS.pdf Okasha, Mohamed Elsayed Aly Abd Elaziz and Shah, J. and Fauzi, W and Hanouf, Zahir (2017) Gain scheduled linear quadratic control for quadcopter. In: AEROS Conference, 12th December 2017, Putrajaya, Malaysia. http://iopscience.iop.org/article/10.1088/1757-899X/270/1/012009/pdf 10.1088/1757-899X/270/1/012009 |
| spellingShingle | T Technology (General) Okasha, Mohamed Elsayed Aly Abd Elaziz Shah, J. Fauzi, W Hanouf, Zahir Gain scheduled linear quadratic control for quadcopter |
| title | Gain scheduled linear quadratic control for quadcopter |
| title_full | Gain scheduled linear quadratic control for quadcopter |
| title_fullStr | Gain scheduled linear quadratic control for quadcopter |
| title_full_unstemmed | Gain scheduled linear quadratic control for quadcopter |
| title_short | Gain scheduled linear quadratic control for quadcopter |
| title_sort | gain scheduled linear quadratic control for quadcopter |
| topic | T Technology (General) |
| url | http://irep.iium.edu.my/62846/ http://irep.iium.edu.my/62846/ http://irep.iium.edu.my/62846/ http://irep.iium.edu.my/62846/1/62846%20Gain%20scheduled%20linear%20quadratic.pdf http://irep.iium.edu.my/62846/2/62846%20Gain%20scheduled%20linear%20quadratic%20SCOPUS.pdf |