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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Main Authors:	Abdul Ghaffar, Alia Farhana, Richardson, Tom
Format:	Article
Language:	English
Published:	World Academy of Science, Engineering and Technology 2015
Subjects:	T Technology (General) TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/69541/ http://irep.iium.edu.my/69541/ http://irep.iium.edu.my/69541/1/8c5239f5bdff1e63d09513d59bdbb24ebfe0.pdf

id	iium-69541
recordtype	eprints
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
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	T Technology (General) TJ212 Control engineering
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
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.
format	Article
author	Abdul Ghaffar, Alia Farhana Richardson, Tom
author_facet	Abdul Ghaffar, Alia Farhana Richardson, Tom
author_sort	Abdul Ghaffar, Alia Farhana
title	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_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_sort	model reference adaptive control and lqr control for quadrotor with parametric uncertainties
publisher	World Academy of Science, Engineering and Technology
publishDate	2015
url	http://irep.iium.edu.my/69541/ http://irep.iium.edu.my/69541/ http://irep.iium.edu.my/69541/1/8c5239f5bdff1e63d09513d59bdbb24ebfe0.pdf
first_indexed	2023-09-18T21:38:43Z
last_indexed	2023-09-18T21:38:43Z
_version_	1777412995217883136

Model reference adaptive control and LQR control for quadrotor with parametric uncertainties

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