Optimal Path Tracking Control of a Quadrotor UAV

Date

2014-05-30

Author

Suicmez, Emre Can
Kutay, Ali Türker

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

155
views

0
downloads

This paper presents the linear quadratic tracking (LQT) control of a quadrotor UAV by solving discrete time matrix difference Riccati Equation. First, the nonlinear dynamic model of the quadrotor is obtained by using Newton's equations of motion. Then, the nonlinear dynamic model is linearized around hover condition. The linearized dynamic model is used to solve the optimal control problem. A trade off between good tracking performance and energy consumption is made while defining the performance index (cost function). Time-variant optimal control gains are found off-line by solving discrete time matrix difference Riccati Equation backwards in time. Finally, to validate optimal control system, simulations are performed by using the nonlinear dynamic model as plant and time-variant optimal control gains as state feedback control. The optimal control algorithm used in this paper uses time-variant control gains instead of fixed (time-invariant) control gains used in classical LQR control. Simulations show that, good tracking performance is achieved while decreasing energy consumption compared to the fixed gain LQR control. Some other advantageous properties of the optimal control system used in this paper compared to the fixed gain LQR control are also analyzed. In addition, disturbance rejection properties of the optimal control system are also studied. All algorithms and simulations are done by using MATLAB software.

Subject Keywords

Quadrotor UAV, Disturbance Rejection, Energy Consumption, Optimal Control, LQR, LQT, Nonlinear Dynamic Model, Riccati Equation, Path Tracking, Dicrete Time

URI

https://hdl.handle.net/11511/54044

Collections

Department of Aerospace Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Fully computable convergence analysis of discontinous Galerkin finite element approximation with an arbitrary number of levels of hanging nodes Özışık, Sevtap; Kaya Merdan, Songül; Riviere, Beatrice M.; Department of Mathematics (2012) In this thesis, we analyze an adaptive discontinuous finite element method for symmetric second order linear elliptic operators. Moreover, we obtain a fully computable convergence analysis on the broken energy seminorm in first order symmetric interior penalty discontin- uous Galerkin finite element approximations of this problem. The method is formulated on nonconforming meshes made of triangular elements with first order polynomial in two di- mension. We use an estimator which is completely free of unknow...
Forced Oscillation of Second-Order Impulsive Differential Equations with Mixed Nonlinearities ÖZBEKLER, ABDULLAH; Zafer, Ağacık (2011-07-08) In this paper we give new oscillation criteria for a class of second-order mixed nonlinear impulsive differential equations having fixed moments of impulse actions. The method is based on the existence of a nonprincipal solution of a related second-order linear homogeneous equation.
Nonlinear Seismic Dam and Foundation Analysis Using Explicit Newmark Integration Method with Static Condensation Albostan, Utku; Bahcecioglu, Tunc; Arıcı, Yalın; Kurç, Özgür (Elsevier BV; 2017-09-13) Engineers use the explicit Newmark integration method to analyze nonlinear dynamic problems. Instead of using computationally expensive global matrix assembly and factorization, the explicit integration method performs computations at element level which is computationally efficient, easily parallelizable, and does not require equilibrium iterations in case of nonlinear analysis. On the other hand, the explicit schema might require much smaller time steps compared to implicit integration alternative especia...
Optimum placement of microphone array for sound capture using genetic algoritms Birinci, Isil Yazgan; Leblebicioğlu, Mehmet Kemal (2006-01-01) This paper presents a new method based on genetic algorithm for the optimum placement of microphone arrays for high-quality sound pickup. Microphone arrays are being used for the purposes of direction-of-arrival estimation and tracking of sound sources [1][2] as well as high quality sound capture by focusing on a source [3]. The placement of microphones has direct effect on the sound quality acquired [4][5]. The method proposed in this paper uses a metric function that takes this effect into account and op...
Exact solutions of the supersmmetric quantum mechanics Faridfathi, Gholamreza; Sever, Ramazan; Department of Physics (2005) The supersymmetric solutions of PT-/non-PT symmetric and Hermitian/non-Hermitian forms of quantum systems are obtained by solving the SchrÄodinger equation with the deformed Morse, Hulthœen, PÄoschl-Teller, Hyperbolic Kratzer-like, Screened Coulomb, and Exponential-Cosine Screened Coulomb (ECSC) potentials. The Hamiltonian hi- erarchy method is used to get the real energy eigenvalues and corresponding wave functions.

Citation Formats

E. C. Suicmez and A. T. Kutay, “Optimal Path Tracking Control of a Quadrotor UAV,” 2014, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/54044.