Model reference adaptive control and LQR control for quadrotor with parametric uncertainties
A model reference adaptive control and a fixed gain LQR control were implemented in the height controller of a quadrotor that has parametric uncertainties due to the act of picking up an object of unknown dimension and mass. It is shown that an adaptive controller, unlike the fixed gain controller,...
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| Format: | Article |
| Language: | English |
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World Academy of Science, Engineering and Technology
2015
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| Online Access: | http://irep.iium.edu.my/69541/ http://irep.iium.edu.my/69541/1/8c5239f5bdff1e63d09513d59bdbb24ebfe0.pdf |
| _version_ | 1848787133313056768 |
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| author | Abdul Ghaffar, Alia Farhana Richardson, Tom |
| author_facet | Abdul Ghaffar, Alia Farhana Richardson, Tom |
| author_sort | Abdul Ghaffar, Alia Farhana |
| building | IIUM Repository |
| collection | Online Access |
| description | A model reference adaptive control and a fixed gain LQR control were implemented in the height controller of a quadrotor that has parametric uncertainties due to the act of picking up an object of unknown dimension and mass. It is shown that an adaptive controller, unlike the fixed gain controller, is capable of ensuring a stable tracking performance under such condition, although adaptive control suffers from several limitation. The combination of both adaptive and fixed gain control in the controller architecture can result in an enhanced tracking performance in the presence of parametric uncertainties. |
| first_indexed | 2025-11-14T17:20:05Z |
| format | Article |
| id | iium-69541 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T17:20:05Z |
| publishDate | 2015 |
| publisher | World Academy of Science, Engineering and Technology |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-695412019-04-03T07:27:06Z http://irep.iium.edu.my/69541/ Model reference adaptive control and LQR control for quadrotor with parametric uncertainties Abdul Ghaffar, Alia Farhana Richardson, Tom T Technology (General) TJ212 Control engineering A model reference adaptive control and a fixed gain LQR control were implemented in the height controller of a quadrotor that has parametric uncertainties due to the act of picking up an object of unknown dimension and mass. It is shown that an adaptive controller, unlike the fixed gain controller, is capable of ensuring a stable tracking performance under such condition, although adaptive control suffers from several limitation. The combination of both adaptive and fixed gain control in the controller architecture can result in an enhanced tracking performance in the presence of parametric uncertainties. World Academy of Science, Engineering and Technology 2015-02 Article PeerReviewed application/pdf en http://irep.iium.edu.my/69541/1/8c5239f5bdff1e63d09513d59bdbb24ebfe0.pdf Abdul Ghaffar, Alia Farhana and Richardson, Tom (2015) Model reference adaptive control and LQR control for quadrotor with parametric uncertainties. International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering, 9 (2). pp. 244-250. ISSN 1307-6892 https://waset.org/publications/10000466/model-reference-adaptive-control-and-lqr-control-for-quadrotor-with-parametric-uncertainties |
| spellingShingle | T Technology (General) TJ212 Control engineering Abdul Ghaffar, Alia Farhana Richardson, Tom Model reference adaptive control and LQR control for quadrotor with parametric uncertainties |
| title | Model reference adaptive control and LQR control for quadrotor with parametric uncertainties |
| title_full | Model reference adaptive control and LQR control for quadrotor with parametric uncertainties |
| title_fullStr | Model reference adaptive control and LQR control for quadrotor with parametric uncertainties |
| title_full_unstemmed | Model reference adaptive control and LQR control for quadrotor with parametric uncertainties |
| title_short | Model reference adaptive control and LQR control for quadrotor with parametric uncertainties |
| title_sort | model reference adaptive control and lqr control for quadrotor with parametric uncertainties |
| topic | T Technology (General) TJ212 Control engineering |
| url | http://irep.iium.edu.my/69541/ http://irep.iium.edu.my/69541/ http://irep.iium.edu.my/69541/1/8c5239f5bdff1e63d09513d59bdbb24ebfe0.pdf |