Open AccessLQR controller design for quad‐rotor helicopters
Author(s) -
Okyere Emmanuel,
Bousbaine Amar,
Poyi Gwangtim T.,
Joseph Ajay K.,
Andrade Jose M.
Publication year - 2019
Publication title -
the journal of engineering
Language(s) - English
Resource type - Journals
ISSN - 2051-3305
DOI - 10.1049/joe.2018.8126
Subject(s) - quadcopter , control theory (sociology) , overshoot (microwave communication) , settling time , computer science , controller (irrigation) , rotor (electric) , control engineering , step response , engineering , control (management) , aerospace engineering , mechanical engineering , telecommunications , agronomy , artificial intelligence , biology
This paper presents an analysis and performance of a LQR control algorithm for quadrotor helicopters. For a successful analysis, first the dynamic model has been developed for the quadcopter and then the controller was designed, tuned, and tested. In tuning the LQR, much attention was given to the feedback gain matrix (K). The controller's performance was verified in terms of delay time, rise time, overshoot, settling time, and tolerance limits. The overall performance of the LQR controller was analysed.