An effective proportional-double derivative-linear quadratic regulator controller for quadcopter attitude and altitude control

Shauqee, Mohamad Norherman; Rajendran, Parvathy; Suhadis, Nurulasikin Mohd

doi:10.1080/00051144.2021.1981527

Cited by 11 publications

(8 citation statements)

References 33 publications

(49 reference statements)

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“…The PD2-LQR was used with an improved grey wolf optimiser (IGWO) to search for an appropriate controller parameter for superior control performance. The tracking quality of the IGWO-PD2LQR was revealed for 20 quadcopter models and outperformed those controllers in [16].…”

Section: Literature Reviewmentioning

confidence: 96%

“…They found LQG controller capably performed in several adaptive optics systems in replay mode simulation. Coworkers in [16] compared proportional-integralderivative (PID), proportional-derivative (PD), LQR, proportional LQR (P-LQR), PD-LQR and proportional-derivative-derivative LQR (PD2-LQR) control strategy for the altitude control and attitude stabilisation of quadcopter applications. Almost all the finding flight responses of quadcopter four motions noticeably improved due to the proposed PD2LQR as an alternative controller.…”

Section: Literature Reviewmentioning

confidence: 99%

“…Also, authors [3, 12−20] used the classical LQR to control general aviation A/C, B747-100, quadcopter and rider-less bicycles for real limited scenarios. Some of those [13,[16][17]19] proposed the so-called FI-LQR, R-LQR, P-LQR, PD-LQR, PD2-LQR and IGWO-PD2LQR (Modified LQR versions) to ensure the LQR shortcomings not influencing the performance under unstandardised conditions. Shauqee et al [17] argued that IGWO-PD2LQR showed more pronounced outperformance than the other controllers" responsiveness.…”

Section: Welstead and Crousementioning

confidence: 99%

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Gain-scheduled linear-quadratic-regulator synthesis for the centre of gravity variations of Boeing 747-100 longitudinal modes

2022

IJATEE

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For the variation in the centre of gravity (CG) of Boeing 747-100 (B747-100) longitudinal flight, the gain scheduling (GS) method is proposed to manage it over the flight envelope. The full-state feedback linear quadratic regulator (FSFLQR) has been synthesised with the GS, named (GS-FSFLQR), to obtain a realistic controller for Mach numbers (M) and altitudes (H) envelope. Such a practised control law demonstrates the CG mean aerodynamic chord (MAC) shifts correlated with M-H and actuator actions. The intermediate variable responses have been accomplished at (M, H) simulations of (0.2, 0), (0.5, 6096 m) and (0.9, 12190 m). Local controllers at M and H scheduled parameters are gained using the cubic spline method of 0.2 to 0.9 and sea level to 12190 m. Swift levelled convergences illustrated the B747-100 CG variations throughout most responses for a coupled elevator and throttle-controlled flight. These findings are validated for the flying quality requirements showing the competent merits of the GS-FSFLQR as opposed to without control flight. The maximum elevator capacity transmits the CG from the 17% MAC at (0.3, 6096 m) to 30% MAC at (0.7, 3048 m), whereas the maximum throttle occurs for the CG at 25% MAC at (0.5, 6096 m). Their minimum operations lead to 22% MAC at (0.6, sea level). The dominated CG location of the elevator is fore than 25% MAC whereas the aft and fore locations of the throttle float around that. 50% actuator effectiveness due to operable elevator and throttle adequately copes with the CG longitudinal stability.

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Section: Literature Reviewmentioning

confidence: 96%

Section: Literature Reviewmentioning

confidence: 99%

Section: Welstead and Crousementioning

confidence: 99%

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Gain-scheduled linear-quadratic-regulator synthesis for the centre of gravity variations of Boeing 747-100 longitudinal modes

2022

IJATEE

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“…It was noticed that steady-state error in altitude can be reduced by applying integral feedback in the developed model. Double derivative-linear quadratic regulator (PD2-LQR) controller is presented in [63]. The suggested PD2-LQR controller's results were compared to the PD, PID, LQR, P-LQR, and PD-LQR controllers.…”

Section: Linear Quadratic Lqr Techniquesmentioning

confidence: 99%

Comparison of various Control Techniques Applied to a Quadcopter

Esmail

Merzban

Khalaf

et al. 2023

Journal of Advanced Engineering Trends

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A quadcopter is considered one of the most well-known examples of unmanned aerial vehicles (UAVS), because it has more advantages than standard helicopter in terms of size, efficiency, and safety. As a result, researchers are quite interested in it. In this paper, practical applications and various control techniques of the quadcopter are presented. This article summarizes an overview of quadcopter popular control strategies such as intelligent PID techniques, feedback linearization techniques, linear quadratic LQR techniques, sliding mode control techniques, and backstepping techniques, followed by analyses, pros, and cons of each control technique. The adaptive/observer-based augmentation of each nonlinear control technique is also discussed. Finally, our research prospects that the most important features of research and development quadcopter's future research will be directed by this focused literature. For each technique, the target and type of test of each research article are stated, making it easier for the researcher to select the research papers that best meet his objectives.

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“…The second trajectory is a circle-shaped path calculated using (24) and (25). The symbol 𝑎 also denotes the radius of the circle.…”

Section: 𝑥(𝑡) = Sin 𝑡mentioning

confidence: 99%

Path Tracking and Position Control of Nonholonomic Differential Drive Wheeled Mobile Robot

Auzan

Hujja

Fuadin

et al. 2021

Jurnal Ilmiah Teknik Elektro Komputer Dan Informatika

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Differential drive wheeled mobile robot (DDWMR) is one example of a robot with a constrained movement, Multiple Input Multiple Output (MIMO), and nonlinear system. Designing a low resource position and heading controller using linear MIMO methods such as LQR became a problem because of the linearization of robot dynamics at zero value. One of the solutions is to design a MIMO controller using a Single Input Single Output (SISO) controller. This work design a controller using PID for DDWMR Jetbot and selects the best feedback gain using different scenarios. The designed controller manipulates both motors by using calculated control signal to achieve a complex task such as path tracking with robot position in x-Axis, y-Axis, and heading angle as the feedback. The priority between position and heading angle can be adjusted by changing three feedback gains. The controller was tested, and the best gain was selected using Integral Absolute Error (IAE) metrics in a path tracking task with four different path shapes. The proposed methods can track square, circle, and two types of infinity shape paths, with the less well-formed shape being the four edges square path.

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An effective proportional-double derivative-linear quadratic regulator controller for quadcopter attitude and altitude control

Cited by 11 publications

References 33 publications

Gain-scheduled linear-quadratic-regulator synthesis for the centre of gravity variations of Boeing 747-100 longitudinal modes

Gain-scheduled linear-quadratic-regulator synthesis for the centre of gravity variations of Boeing 747-100 longitudinal modes

Comparison of various Control Techniques Applied to a Quadcopter

Path Tracking and Position Control of Nonholonomic Differential Drive Wheeled Mobile Robot

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