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...

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Main Authors:	Islam, Maidul, Okasha, Mohamed Elsayed Aly Abd Elaziz, Mahmoud Idres, Moumen Mohammed
Format:	Conference or Workshop Item
Language:	English English English
Published:	IOP Publishing 2017
Subjects:	T Technology (General)
Online Access:	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

id	iium-62940
recordtype	eprints
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 Conference or Workshop Item 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
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English English
topic	T Technology (General)
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
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.
format	Conference or Workshop Item
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
title	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_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_sort	trajectory tracking in quadrotor platform by using pd controller and lqr control approach
publisher	IOP Publishing
publishDate	2017
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
first_indexed	2023-09-18T21:29:12Z
last_indexed	2023-09-18T21:29:12Z
_version_	1777412396620447744

Trajectory tracking in quadrotor platform by using PD controller and LQR control approach

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