Evaluation performance of linear quadratic regulator and linear quadratic gaussian controllers on quadrotor platform
The purpose of this article is to evaluate the performances of the three different controllers such as Linear Quadratic Regulator (LQR), 1 DOF (Degree of Freedom) Linear Quadratic Gaussian (LQG) and 2 DOF LQG based on Quadrotor trajectory tracking and control effort. The basic algorithm of these thr...
| Main Authors: | , , , |
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| Format: | Proceeding Paper |
| Language: | English English |
| Published: |
2018
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| Online Access: | http://irep.iium.edu.my/68747/ http://irep.iium.edu.my/68747/1/68747_Evaluation%20Performance%20of%20Linear%20-program%20book.pdf http://irep.iium.edu.my/68747/2/68747_Evaluation%20Performance%20of%20Linear%20-slide.pdf |
| _version_ | 1848786991998566400 |
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| author | Okasha, Mohamed Elsayed Aly Abd Elaziz Islam, Maidul Sulaeman, Erwin Legowo, Ari |
| author_facet | Okasha, Mohamed Elsayed Aly Abd Elaziz Islam, Maidul Sulaeman, Erwin Legowo, Ari |
| author_sort | Okasha, Mohamed Elsayed Aly Abd Elaziz |
| building | IIUM Repository |
| collection | Online Access |
| description | The purpose of this article is to evaluate the performances of the three different controllers such as Linear Quadratic Regulator (LQR), 1 DOF (Degree of Freedom) Linear Quadratic Gaussian (LQG) and 2 DOF LQG based on Quadrotor trajectory tracking and control effort. The basic algorithm of these three controllers are almost same but arrangement of some additional features like integral part and Kalman filter in 1 DOF and 2 DOF LQG make the controllers more robust comparing to LQR. Circular and Helical trajectories have been adopted in order to investigate the performance of the controllers in MATLAB/Simulink environment. Remarkably 2 DOF LQG ensures its highly robust performance when system was considered under noise and disturbances. Root Mean Square Error (RMSE) method is adopted to investigate the tracking performances of the controllers. |
| first_indexed | 2025-11-14T17:17:50Z |
| format | Proceeding Paper |
| id | iium-68747 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-14T17:17:50Z |
| publishDate | 2018 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-687472019-01-07T03:10:19Z http://irep.iium.edu.my/68747/ Evaluation performance of linear quadratic regulator and linear quadratic gaussian controllers on quadrotor platform Okasha, Mohamed Elsayed Aly Abd Elaziz Islam, Maidul Sulaeman, Erwin Legowo, Ari TL Motor vehicles. Aeronautics. Astronautics The purpose of this article is to evaluate the performances of the three different controllers such as Linear Quadratic Regulator (LQR), 1 DOF (Degree of Freedom) Linear Quadratic Gaussian (LQG) and 2 DOF LQG based on Quadrotor trajectory tracking and control effort. The basic algorithm of these three controllers are almost same but arrangement of some additional features like integral part and Kalman filter in 1 DOF and 2 DOF LQG make the controllers more robust comparing to LQR. Circular and Helical trajectories have been adopted in order to investigate the performance of the controllers in MATLAB/Simulink environment. Remarkably 2 DOF LQG ensures its highly robust performance when system was considered under noise and disturbances. Root Mean Square Error (RMSE) method is adopted to investigate the tracking performances of the controllers. 2018-09-19 Proceeding Paper NonPeerReviewed application/pdf en http://irep.iium.edu.my/68747/1/68747_Evaluation%20Performance%20of%20Linear%20-program%20book.pdf application/pdf en http://irep.iium.edu.my/68747/2/68747_Evaluation%20Performance%20of%20Linear%20-slide.pdf Okasha, Mohamed Elsayed Aly Abd Elaziz and Islam, Maidul and Sulaeman, Erwin and Legowo, Ari (2018) Evaluation performance of linear quadratic regulator and linear quadratic gaussian controllers on quadrotor platform. In: 4th International Conference on Mechanical, Automotive, and Aerospace Engineering 2018 (ICMAAE’18), 19th-20th September 2018, Kuala Lumpur. (Unpublished) http://iium.edu.my/icmaae/2018/ |
| spellingShingle | TL Motor vehicles. Aeronautics. Astronautics Okasha, Mohamed Elsayed Aly Abd Elaziz Islam, Maidul Sulaeman, Erwin Legowo, Ari Evaluation performance of linear quadratic regulator and linear quadratic gaussian controllers on quadrotor platform |
| title | Evaluation performance of linear quadratic regulator and linear quadratic gaussian controllers on quadrotor platform |
| title_full | Evaluation performance of linear quadratic regulator and linear quadratic gaussian controllers on quadrotor platform |
| title_fullStr | Evaluation performance of linear quadratic regulator and linear quadratic gaussian controllers on quadrotor platform |
| title_full_unstemmed | Evaluation performance of linear quadratic regulator and linear quadratic gaussian controllers on quadrotor platform |
| title_short | Evaluation performance of linear quadratic regulator and linear quadratic gaussian controllers on quadrotor platform |
| title_sort | evaluation performance of linear quadratic regulator and linear quadratic gaussian controllers on quadrotor platform |
| topic | TL Motor vehicles. Aeronautics. Astronautics |
| url | http://irep.iium.edu.my/68747/ http://irep.iium.edu.my/68747/ http://irep.iium.edu.my/68747/1/68747_Evaluation%20Performance%20of%20Linear%20-program%20book.pdf http://irep.iium.edu.my/68747/2/68747_Evaluation%20Performance%20of%20Linear%20-slide.pdf |