Integral LQR Control of a Star-Shaped Octorotor
Journal Title: INCAS BULLETIN - Year 2012, Vol 4, Issue 2
Abstract
The paper starts by presenting the model of the star-shaped octorotor. LQR control is chosen to stabilize the attitude and altitude of the vehicle. Waypoint navigation is also implemented. Numerical simulations demonstrate the effectiveness of the control strategy under nominal conditions. However, in practice mass related uncertainties can occur. In this case the results are unsatisfactory. Thus the improvement of the applied LQR control strategy is proposed. It is shown that after adding integral action to the altitude controller the issue is solved.
Authors and Affiliations
Victor G. ADÎR, Adrian M. STOICA
Keywords
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- EP ID EP130061
- DOI 10.13111/2066-8201.2012.4.2.1
- Views 105
- Downloads 0
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