Discrete Integral Optimal Controller for Quadrotor Attitude Stabilization: Experimental Results
Gildardo Godinez-Garrido,
Omar-Jacobo Santos-Sánchez,
Hugo Romero-Trejo
et al.
Abstract:The Unmanned Aerial Vehicle (UAV) attitude stabilization problem has been dealt with in many previous works through applying a vast range of philosophies of control strategies. In this paper, a discrete controller based on a Linear Quadratic Regulator (LQR) plus integral action is synthesized to stabilize the attitude and altitude of a quadrotor helicopter. This kind of control strategy allows us to reduce the energy consumption rate, and the desired UAV behavior is properly achieved. Experimental tests are co… Show more
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