TY - GEN
T1 - A Comparative Study of PD, LQR and MPC on Quadrotor Using Quaternion Approach
AU - Islam, Maidul
AU - Okasha, Mohamed
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - This study addresses the performances of three different controllers Proportional-Derivative (PD), Linear Quadratic Regulator (LQR) and Model Predictive Control (MPC) on a quaternion orientation based quadrotor and determines their suitability for different applications. As these controllers are widely being used in quadrotor platform with Euler-angle orientation, alternatively they are evaluated with quaternion orientation because this orientation can ensure singularity-free flight. In order to compare the performances of the controllers, performance indices like tracking error, considering RMSE method and control effort, using norm of control inputs have been considered. Based on the comparison, it is found that MPC is suitable for outdoor applications while PD and LQR can be best-fitted for indoor applications. MATLAB and Simulink environment has been considered in order to evaluate their performances.
AB - This study addresses the performances of three different controllers Proportional-Derivative (PD), Linear Quadratic Regulator (LQR) and Model Predictive Control (MPC) on a quaternion orientation based quadrotor and determines their suitability for different applications. As these controllers are widely being used in quadrotor platform with Euler-angle orientation, alternatively they are evaluated with quaternion orientation because this orientation can ensure singularity-free flight. In order to compare the performances of the controllers, performance indices like tracking error, considering RMSE method and control effort, using norm of control inputs have been considered. Based on the comparison, it is found that MPC is suitable for outdoor applications while PD and LQR can be best-fitted for indoor applications. MATLAB and Simulink environment has been considered in order to evaluate their performances.
KW - Control Effort
KW - LQR
KW - MPC
KW - Performance Index
KW - PID
KW - Trajectory Tracking
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U2 - 10.1109/ICOM47790.2019.8952046
DO - 10.1109/ICOM47790.2019.8952046
M3 - Conference contribution
AN - SCOPUS:85078833047
T3 - 2019 7th International Conference on Mechatronics Engineering, ICOM 2019
BT - 2019 7th International Conference on Mechatronics Engineering, ICOM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th International Conference on Mechatronics Engineering, ICOM 2019
Y2 - 30 October 2019 through 31 October 2019
ER -