Trajectory tracking in quadrotor platform by using PD controller and LQR control approach
The purpose of the paper is to discuss a comparative evaluation of performance of two different controllers i.e. Proportional-Derivative Controller (PD) and Linear Quadratic Regulation (LQR) in Quadrotor dynamic system that is under-actuated with high nonlinearity. As only four states can be cont...
| Main Authors: | , , |
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| Format: | Proceeding Paper |
| Language: | English English English |
| Published: |
IOP Publishing
2017
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| Online Access: | http://irep.iium.edu.my/62940/ http://irep.iium.edu.my/62940/1/62940%20Trajectory%20tracking%20in%20quadrotor%20platform.pdf http://irep.iium.edu.my/62940/2/62940%20Trajectory%20tracking%20in%20quadrotor%20platform%20SCOPUS.pdf http://irep.iium.edu.my/62940/13/62940_Trajectory%20tracking%20in%20quadrotor_wos.pdf |
| _version_ | 1848785938115723264 |
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| author | Islam, Maidul Okasha, Mohamed Elsayed Aly Abd Elaziz Mahmoud Idres, Moumen Mohammed |
| author_facet | Islam, Maidul Okasha, Mohamed Elsayed Aly Abd Elaziz Mahmoud Idres, Moumen Mohammed |
| author_sort | Islam, Maidul |
| building | IIUM Repository |
| collection | Online Access |
| description | The purpose of the paper is to discuss a comparative evaluation of performance of
two different controllers i.e. Proportional-Derivative Controller (PD) and Linear Quadratic
Regulation (LQR) in Quadrotor dynamic system that is under-actuated with high nonlinearity.
As only four states can be controlled at the same time in the Quadrotor, the trajectories are
designed on the basis of the four states whereas three dimensional position and rotation along an
axis, known as yaw movement are considered. In this work, both the PD controller and LQR
control approach are used for Quadrotor nonlinear model to track the trajectories. LQR control
approach for nonlinear model is designed on the basis of a linear model of the Quadrotor because
the performance of linear model and nonlinear model around certain nominal point is almost
similar. Simulink and MATLAB software is used to design the controllers and to evaluate the
performance of both the controllers. |
| first_indexed | 2025-11-14T17:01:05Z |
| format | Proceeding Paper |
| id | iium-62940 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English English |
| last_indexed | 2025-11-14T17:01:05Z |
| publishDate | 2017 |
| publisher | IOP Publishing |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-629402019-08-17T12:30:29Z http://irep.iium.edu.my/62940/ Trajectory tracking in quadrotor platform by using PD controller and LQR control approach Islam, Maidul Okasha, Mohamed Elsayed Aly Abd Elaziz Mahmoud Idres, Moumen Mohammed T Technology (General) The purpose of the paper is to discuss a comparative evaluation of performance of two different controllers i.e. Proportional-Derivative Controller (PD) and Linear Quadratic Regulation (LQR) in Quadrotor dynamic system that is under-actuated with high nonlinearity. As only four states can be controlled at the same time in the Quadrotor, the trajectories are designed on the basis of the four states whereas three dimensional position and rotation along an axis, known as yaw movement are considered. In this work, both the PD controller and LQR control approach are used for Quadrotor nonlinear model to track the trajectories. LQR control approach for nonlinear model is designed on the basis of a linear model of the Quadrotor because the performance of linear model and nonlinear model around certain nominal point is almost similar. Simulink and MATLAB software is used to design the controllers and to evaluate the performance of both the controllers. IOP Publishing 2017-11-07 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/62940/1/62940%20Trajectory%20tracking%20in%20quadrotor%20platform.pdf application/pdf en http://irep.iium.edu.my/62940/2/62940%20Trajectory%20tracking%20in%20quadrotor%20platform%20SCOPUS.pdf application/pdf en http://irep.iium.edu.my/62940/13/62940_Trajectory%20tracking%20in%20quadrotor_wos.pdf Islam, Maidul and Okasha, Mohamed Elsayed Aly Abd Elaziz and Mahmoud Idres, Moumen Mohammed (2017) Trajectory tracking in quadrotor platform by using PD controller and LQR control approach. In: 6th International Conference on Mechatronics (ICOM'17), 8th–9th August 2017, Kuala Lumpur, Malaysia. http://iopscience.iop.org/article/10.1088/1757-899X/260/1/012026/pdf 10.1088/1757-899X/260/1/012026 |
| spellingShingle | T Technology (General) Islam, Maidul Okasha, Mohamed Elsayed Aly Abd Elaziz Mahmoud Idres, Moumen Mohammed Trajectory tracking in quadrotor platform by using PD controller and LQR control approach |
| title | Trajectory tracking in quadrotor platform by using PD
controller and LQR control approach |
| title_full | Trajectory tracking in quadrotor platform by using PD
controller and LQR control approach |
| title_fullStr | Trajectory tracking in quadrotor platform by using PD
controller and LQR control approach |
| title_full_unstemmed | Trajectory tracking in quadrotor platform by using PD
controller and LQR control approach |
| title_short | Trajectory tracking in quadrotor platform by using PD
controller and LQR control approach |
| title_sort | trajectory tracking in quadrotor platform by using pd
controller and lqr control approach |
| topic | T Technology (General) |
| url | http://irep.iium.edu.my/62940/ http://irep.iium.edu.my/62940/ http://irep.iium.edu.my/62940/ http://irep.iium.edu.my/62940/1/62940%20Trajectory%20tracking%20in%20quadrotor%20platform.pdf http://irep.iium.edu.my/62940/2/62940%20Trajectory%20tracking%20in%20quadrotor%20platform%20SCOPUS.pdf http://irep.iium.edu.my/62940/13/62940_Trajectory%20tracking%20in%20quadrotor_wos.pdf |