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...

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Main Authors:	Okasha, Mohamed Elsayed Aly Abd Elaziz, Islam, Maidul, Sulaeman, Erwin, Legowo, Ari
Format:	Conference or Workshop Item
Language:	English English
Published:	2018
Subjects:	TL Motor vehicles. Aeronautics. Astronautics
Online Access:	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

id	iium-68747
recordtype	eprints
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 Conference or Workshop Item 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/
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	TL Motor vehicles. Aeronautics. Astronautics
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
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.
format	Conference or Workshop Item
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
title	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_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_sort	evaluation performance of linear quadratic regulator and linear quadratic gaussian controllers on quadrotor platform
publishDate	2018
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
first_indexed	2023-09-18T21:37:32Z
last_indexed	2023-09-18T21:37:32Z
_version_	1777412921109774336

Evaluation performance of linear quadratic regulator and linear quadratic gaussian controllers on quadrotor platform

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