LQ Servo control design with Kalman filter for a quadrotor UAV

Péter Bauer, György Ritzinger, Alexandros Soumelidis, J. Bokor

Research output: Contribution to journalArticle

11 Citations (Scopus)

Abstract

This paper deals with reference signal tracking control of a quadrotor UAV (Unmanned Aerial Vehicle). Before controller design, a nonlinear simulation model is needed, to be the base of design and the first testbed for the resulted controllers. The next step should be the linearization of the nonlinear model in hovering mode, and the reduction of the resulted linear model. The reduced linear model is controllable and observable. The control goal was to track a spatial trajectory with the helicopter center of gravity. For this purpose, an LQ Servo controller (with double integrator) was designed, augmented with a Kalman filter state observer. The resultant controller provided good tracking performance for a slowly varying reference signal, also on the nonlinear model! After the transient response, the tracking error was below 1 cm which provides safe handling even in indoor applications. The time of transients was approximately 4 seconds which is acceptable.

Original languageEnglish
Pages (from-to)9-14
Number of pages6
JournalPeriodica Polytechnica Transportation Engineering
Volume36
Issue number1-2
DOIs
Publication statusPublished - 2008

Fingerprint

Unmanned aerial vehicles (UAV)
Control Design
Kalman filters
Kalman Filter
Nonlinear Model
Controller
Linear Model
Controllers
Centre of gravity
State Observer
Transient Response
Reduced Model
Signal Control
Helicopter
Tracking Control
Controller Design
Testbed
Linearization
Safe handling
Simulation Model

Keywords

  • Kalman filter
  • LQ Servo control
  • Nonlinear simulation
  • Quadrotor UAV

ASJC Scopus subject areas

  • Mechanical Engineering
  • Aerospace Engineering
  • Automotive Engineering
  • Modelling and Simulation

Cite this

LQ Servo control design with Kalman filter for a quadrotor UAV. / Bauer, Péter; Ritzinger, György; Soumelidis, Alexandros; Bokor, J.

In: Periodica Polytechnica Transportation Engineering, Vol. 36, No. 1-2, 2008, p. 9-14.

Research output: Contribution to journalArticle

Bauer, Péter ; Ritzinger, György ; Soumelidis, Alexandros ; Bokor, J. / LQ Servo control design with Kalman filter for a quadrotor UAV. In: Periodica Polytechnica Transportation Engineering. 2008 ; Vol. 36, No. 1-2. pp. 9-14.
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