Linear quadrotor modelling and attitude controller design based on experimental data

• Published in: 2015 15th International Conference on Control, Automation and Systems (ICCAS) pp. 472 - 476
• Main Authors: Khoi Nguyen Dang, Gigun Lee, Taesam Kang
• Format: Conference Proceeding
• Language: English
• Published: Institute of Control, Robotics and Systems - ICROS 01-10-2015
• Subjects: LQ Servo; LQR; Optical sensors; PEM; Quadrotor; System Identification; UAV
• ISSN: 2093-7121
• DOI: 10.1109/ICCAS.2015.7364963

This paper presents a method to model and optimize controller design for quadrotor system. The linearized quadrotor model is derived from system identification method which is based on collected experimental data. After obtaining quadrotor model, the project moves on to design an optimal controller. For that purpose of obtaining the optimal controller design, LQ Servo design, which is basically developed from LQR theory, is considered. The designed LQ Servo, then, is applied back to the quadrotor system to ensure getting the best performance and most suitable mathematical model of quadrotor system.