PID and LQR trajectory tracking control for an unmanned quadrotor helicopter: Experimental studies
- 29 August 2016
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 10845-10850
- https://doi.org/10.1109/chicc.2016.7555074
Abstract
The paper presents two trajectory tracking control strategies for an Unmanned Aerial Vehicle (UAV), Quanser Qball-X4 quadrotor. The mathematical model of the quadrotor Quanser Qball-X4 are studied. Based on the model, the Proportional-Integral-Derivative (PID) controller and Linear Quadratic Regulator (LQR) controller are designed to solve trajectory tracking problem for a Qball-X4. Simulations and experiments are carried out to compare the effectiveness of the designed control strategies.Keywords
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