Performance evaluation 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 thes...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English English |
| Published: |
Blue Eyes Intelligence Engineering & Sciences Publication
2019
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/73129/ http://irep.iium.edu.my/73129/7/73129%20Performance%20evaluation%20of%20linear%20quadratic.pdf http://irep.iium.edu.my/73129/8/73129%20Performance%20evaluation%20of%20linear%20quadratic%20SCOPUS.pdf |
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| author | Islam, Maidul Okasha, Mohamed Elsayed Aly Abd Elaziz Sulaeman, Erwin Fatai, Sado Legowo, Ari |
| author_facet | Islam, Maidul Okasha, Mohamed Elsayed Aly Abd Elaziz Sulaeman, Erwin Fatai, Sado Legowo, Ari |
| author_sort | Islam, Maidul |
| 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, such as integral part and Kalman filter in the
1-DOF and 2-DOF LQG, make these two LQG controllers more
robust comparing to LQR. Circular and Helical trajectories have
been adopted in order to investigate the performances of the
controllers in MATLAB/Simulink environment. Remarkably the
2-DOF LQG ensures its highly robust performance when system
was considered under uncertainties. In order to investigate the
tracking performance of the controllers, Root Mean Square
Error (RMSE) method is adopted. The 2-DOF LQG significantly
ensures that the error is less than 5% RMSE and maintains
stable control input continuously. |
| first_indexed | 2025-11-14T17:29:47Z |
| format | Article |
| id | iium-73129 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-14T17:29:47Z |
| publishDate | 2019 |
| publisher | Blue Eyes Intelligence Engineering & Sciences Publication |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-731292019-07-12T01:54:50Z http://irep.iium.edu.my/73129/ Performance evaluation of linear quadratic regulator and linear quadratic Gaussian controllers on quadrotor platform Islam, Maidul Okasha, Mohamed Elsayed Aly Abd Elaziz Sulaeman, Erwin Fatai, Sado Legowo, Ari TL500 Aeronautics 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, such as integral part and Kalman filter in the 1-DOF and 2-DOF LQG, make these two LQG controllers more robust comparing to LQR. Circular and Helical trajectories have been adopted in order to investigate the performances of the controllers in MATLAB/Simulink environment. Remarkably the 2-DOF LQG ensures its highly robust performance when system was considered under uncertainties. In order to investigate the tracking performance of the controllers, Root Mean Square Error (RMSE) method is adopted. The 2-DOF LQG significantly ensures that the error is less than 5% RMSE and maintains stable control input continuously. Blue Eyes Intelligence Engineering & Sciences Publication 2019-03 Article PeerReviewed application/pdf en http://irep.iium.edu.my/73129/7/73129%20Performance%20evaluation%20of%20linear%20quadratic.pdf application/pdf en http://irep.iium.edu.my/73129/8/73129%20Performance%20evaluation%20of%20linear%20quadratic%20SCOPUS.pdf Islam, Maidul and Okasha, Mohamed Elsayed Aly Abd Elaziz and Sulaeman, Erwin and Fatai, Sado and Legowo, Ari (2019) Performance evaluation of linear quadratic regulator and linear quadratic Gaussian controllers on quadrotor platform. International Journal of Recent Technology and Engineering (IJRTE), 7 (6S). pp. 191-195. ISSN 2277-3878 E-ISSN 2249-8958 https://www.ijrte.org/wp-content/uploads/papers/v7i6s/F02380376S19.pdf |
| spellingShingle | TL500 Aeronautics Islam, Maidul Okasha, Mohamed Elsayed Aly Abd Elaziz Sulaeman, Erwin Fatai, Sado Legowo, Ari Performance evaluation of linear quadratic regulator and linear quadratic Gaussian controllers on quadrotor platform |
| title | Performance evaluation of linear quadratic regulator and linear quadratic Gaussian controllers on quadrotor platform |
| title_full | Performance evaluation of linear quadratic regulator and linear quadratic Gaussian controllers on quadrotor platform |
| title_fullStr | Performance evaluation of linear quadratic regulator and linear quadratic Gaussian controllers on quadrotor platform |
| title_full_unstemmed | Performance evaluation of linear quadratic regulator and linear quadratic Gaussian controllers on quadrotor platform |
| title_short | Performance evaluation of linear quadratic regulator and linear quadratic Gaussian controllers on quadrotor platform |
| title_sort | performance evaluation of linear quadratic regulator and linear quadratic gaussian controllers on quadrotor platform |
| topic | TL500 Aeronautics |
| url | http://irep.iium.edu.my/73129/ http://irep.iium.edu.my/73129/ http://irep.iium.edu.my/73129/7/73129%20Performance%20evaluation%20of%20linear%20quadratic.pdf http://irep.iium.edu.my/73129/8/73129%20Performance%20evaluation%20of%20linear%20quadratic%20SCOPUS.pdf |