Control System Design for a Ducted-Fan Unmanned Aerial Vehicle Using Linear Quadratic Tracker

Abstract

Tracking control system based on linear quadratic (LQ) tracker is designed for a ducted-fan unmanned aerial vehicle (UAV) under full flight envelope including hover, transition, and cruise modes. To design the LQ tracker, a system matrix is augmented with a tracking error term. Then the control input can be calculated to solve a single Riccati equation, but the steady-state errors might still remain in this control system. In order to reduce the steady-state errors, a linear quadratic tracker with integrator (LQTI) is designed to add an integral term of tracking state in the state vector. Then the performance of the proposed controller is verified through waypoint navigation simulation under wind disturbance.

Receding horizon control of a 3 DOF helicopter using online estimation of aerodynamic parameters

“…41 As a result, the overall convergence property of this method is significantly improved in comparison to the classical method. Finally, the optimization problems in (7) and (12) are solved using the direct multiple shooting method and RTI approach incorporated in ACADO (Automatic Control and Dynamic Optimization) toolkit, which is an open-source software environment written in Cþþ for automatic control and dynamic optimization applications. 48 It provides an exhaustive code library that links to the qpOASES 49 solver that applies an active set strategy in order to solve sequential, quadratic sub-problems.…”

“…Other linearized approaches, such as the linear-quadratic-regulator (LQR), are able to handle multi-input-multi-output (MIMO) systems in a structured way. 7 However, the unmodelled uncertainties, which may arise due to changing environmental conditions, may substantially degrade the performance of these linearized controllers and induce oscillations leading to instability. 8,9 Moreover, by conservative tuning of these linearized controllers robustness could be achieved, but this would be at the expense of the performance.…”

Control system design and model development for a ducted-fan singlecopter

“…An inertial measurement unit, or IMU, is an electronic device that measures and reports on object's velocity, orientation, and gravitational forces, using a combination of accelerometers and gyroscopes, sometimes also magnetometers [1,2]. An inertial measurement unit works by detecting the current rate of acceleration using one or more accelerometers, and detects changes in rotational attributes like pitch, roll and yaw using one or more gyroscopes.…”

“…An inertial measurement unit works by detecting the current rate of acceleration using one or more accelerometers, and detects changes in rotational attributes like pitch, roll and yaw using one or more gyroscopes. And some also include a magnetometer, mostly to assist calibrate against orientation drift [1,4]. To smoother the IMU data and orientation angle, a filter is required.…”

Regulador Linear Gaussiano com Ação Integral e Rastreamento para Sistemas com Entradas Desconhecidas

“…Outra contribuição deste trabalho é a inclusão de um parâmetro extra no LQIED para auxiliar no rastreamento de referências variantes no tempo, fornecendo um LQIED com características de LQT (LQIED-T). Essa união entre LQI e LQT é importante pois reduz o erro em regime permanente (Jeong et al, 2015) e, como será visto mais adiante, melhora a resposta transitória do controlador com ação integral. Esse novo parâmetro considera o conhecimento um passo a frente da referência a ser seguida, de maneira que o controlador proposto pode ser interpretado como um caso particular de preview control (Birla and Swarup, 2015;Wu et al, 2019).…”