Controlling quadrotors based on linear quadratic regulator
Cong Mengyuan · Applied science and technology · 2011
To solve sensitivity and quickness of a quadrotor,we use the linear quadratic regulator.Considering the four performance indexes of speed,accuracy,stability and sensitivity,the linear quadratic regulator is mainly used to solve the control algorithm in the vibration system.According to the mathematical assumptions,we built a model of the quadrotor'motor and propeller,then gave the algorithm of the linear quadratic regulator for attitude stabilization.Finally,the control system was developed in Mablab/Simulink and the results of simulation were analyzed.It is found that by use of the linear quadratic regulator,the response time has obviously dropped off.Simulations and experiments on a prototype of the quadrotor were given to demonstrate the effectiveness and feasibility of the proposed scheme.