In this paper, four different control techniques: LQR, LQR with gain scheduling, feedback linearization, and sliding mode control were derived and simulated on a 3-DOF quadrotor model. Compared under ITSE criteria, sliding mode control produced the best result with accurate plant model, while LQR with gain scheduling showed robustness against the model uncertainty. It is concluded that nonlinear control techniques have greater dependency on accurate model estimation. The quadrotor model is currently undergoing a gain tuning stage. The simulation results will be tested on the experimental rig for real-time result and further comparison is to be done. The authors' experimental rig can be further improved in the future by reducing the weight and using other sensor combination for a complete 6-DOF free-flying quadrotor.
Control of 3 DOF quadrotor model
Regelung eines Quadrcopter-Modells mit drei Freiheitsgraden
Robot Motion and Control 2007, RoMoCo, International Workshop on Robot Motion and Control, 6 ; 29-38
2007
10 Seiten, 4 Bilder, 2 Tabellen, 15 Quellen
Conference paper
English
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