A Linear Quadratic Regulator (LQR) [1] controller was designed with the objective of controlling a quad-rotor vehicle's vertical motion and angular rotations. When using this control algorithm, the quad-rotor vehicle would be able to stay in flight and only move with a constant vertical velocity, while being subjected to unmodeled dynamics and external disturbances. In order to accomplish this task, the quad-rotor system equations of motion were first derived and linearized, and a simulation was developed using Simulink 6.0. Using these linearized equations of motion, the LQR controller parameters were also obtained and the controller incorporated into the quadrotor simulation. Then, the testing conditions were varied in order to measure the performance of the controller. From the simulation results, as long as the changes from the vehicle's desired motion were kept relatively small, the controller worked well by controlling the desired four degrees of freedom and keeping the quad-rotor vehicle in its desired flight trajectory.
| Identifer | oai:union.ndltd.org:ucf.edu/oai:stars.library.ucf.edu:honorstheses1990-2015-1494 |
| Date | 01 January 2005 |
| Creators | Rodriguez, Ollie |
| Publisher | STARS |
| Source Sets | University of Central Florida |
| Language | English |
| Detected Language | English |
| Type | text |
| Source | HIM 1990-2015 |
Page generated in 0.0014 seconds