Design of a LQR Controller for a Quad-Rotor Vehicle

Abstract

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.

Notes

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Thesis Completion

2005

Semester

Summer

Advisor

Leonessa, Alexander

Degree

Bachelor of Science (B.S.)

College

College of Engineering and Computer Science

Degree Program

Aerospace Engineering

Subjects

Dissertations, Academic -- Engineering; Engineering -- Dissertations, Academic; Space vehicles -- Control systems

Format

Print

Identifier

DP0022047

Language

English

Access Status

Open Access

Length of Campus-only Access

None

Document Type

Honors in the Major Thesis

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