UM  > 科技學院  > 電機及電腦工程系
A trajectory tracking LQR controller for a quadrotor: Design and experimental evaluation
Heng X.1; Cabecinhas D.1,3; Cunha R.2; Silvestre C.1; Qingsong X.1
Conference NameIEEE Region 10 Conference
Source PublicationTENCON 2015 - 2015 IEEE REGION 10 CONFERENCE
Conference DateNOV 01-04, 2015
Conference PlaceMacao, PEOPLES R CHINA

This paper addresses the problem of driving a quadrotor vehicle along a predefined 3-D trimming path. The proposed solution relies on the definition of a path-dependent error space to express the dynamic model of the vehicle, which results in linear time-invariant dynamics for the error system. The controller synthesis problem is then formulated as a linear quadratic regulator problem for LTI systems. The control strategy adopts the D-methodology integrated with the anti-windup technique in order to achieve zero static error for the integral states and to avoid actuator saturation. Experimental results where a quadrotor follows a trimming trajectory are presented to illustrate the performance of the proposed controller.

URLView the original
Indexed BySCI
WOS Research AreaEngineering
WOS SubjectEngineering, Electrical & Electronic
WOS IDWOS:000380489200019
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Document TypeConference paper
Affiliation1.Univ Macau
2.Univ Lisbon
3.LARSyS, Inst Syst & Robot ISR IST, Lisbon, Portugal
First Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Heng X.,Cabecinhas D.,Cunha R.,et al. A trajectory tracking LQR controller for a quadrotor: Design and experimental evaluation[C],2015.
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