论文信息 - Linear Quadratic Regulator Controller Design

Linear Quadratic Regulator Controller Design

In this chapter, an optimal controller is designed using the linear quadratic regulator (LQR) method. In order to better evaluate the effect of disturbances on the obtained measurements, a Kalman filter is used. Initially, the controller is tested for a case where disturbances are absent. Then, a Kalman filter is designed and the system under disturbances is tested with the designed controller and filter. The results reveal the effectiveness of the Kalman filter and LQR controller.

Halil Ersin Soken | Chingiz Hajiyev | Sıtkı Yenal Vural

[1] Gregory K. Egan,et al. Linear Quadratic Optimal Control Synthesis for a UAV , 2007 .

[2] T. Kinoshita,et al. A Study on the Optimal Flight Control for an Autonomous UAV , 2006, 2006 International Conference on Mechatronics and Automation.

[3] Andrew P. Sage,et al. Estimation theory with applications to communications and control , 1979 .

[4] Eric N. Johnson,et al. Evaluation of an Adaptive Method for Launch Vehicle Flight Control , 2003 .

[5] B. Anderson,et al. Optimal control: linear quadratic methods , 1990 .

[6] Mustafa Unel,et al. LQR and SMC Stabilization of a New Unmanned Aerial Vehicle , 2009 .

[7] Chingiz Hajiyev,et al. LQR Controller with Kalman Estimator Applied to UAV Longitudinal Dynamics , 2013 .

[8] Semuel Franko. LQR-Based Trajectory Control Of Full Envelope, Autonomous Helicopter , 2009 .