Position and Altitude Control of a Quadcopter Using State-Dependent Riccati Equation (SDRE) Control

被引：0

作者：

Chipofya, Mapopa ^{[1
]}

Lee, Deok Jin ^{[1
]}

机构：

[1] Kunsan Natl Univ, Dept Mech & Automot Engn, Gunsan 573701, South Korea

来源：

2017 17TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2017年

基金：

新加坡国家研究基金会;

关键词：

SDRE; quadcopter; pseudo-linear system; Kalman filter;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a solution to the problem of trajectory tracking for a quadcopter using a State-Dependent Riccati Equation (SDRE) controller. SDRE requires a pseudo-linear model of the system to be controlled so a pseudo-linear model of the quadcopter is derived first. At each time step, a control law is obtained using the SDRE approach but the state used to form the control law at each of those steps is fed from an estimator (Kalman filter). The results of a simulation done in Python are presented in the simulations section.

引用

页码：1242 / 1244

页数：3

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