Controle de trajetória do quadrotor AR.Drone 2.0 via abordagens LQR e H_infinito

Authors

  • Rodrigo S. Leonello Programa de Pós-Graduação em Engenharia Elétrica (PPGEE), Universidade Federal da Bahia, Salvador, Bahia
  • Mateus Z. Seixas Programa de Pós-Graduação em Engenharia Elétrica (PPGEE), Universidade Federal da Bahia, Salvador, Bahia
  • Humberto X. de Araújo Programa de Pós-Graduação em Engenharia Elétrica (PPGEE), Universidade Federal da Bahia, Salvador, Bahia
  • Bernardo Ordonez Programa de Pós-Graduação em Engenharia Elétrica (PPGEE), Universidade Federal da Bahia, Salvador, Bahia

DOI:

https://doi.org/10.20906/sbai.v1i1.2799

Keywords:

LQR, H8 control, optimal control, quadcopter, model identification, LMI

Abstract

This article presents an experimental study of two control techniques based on the Optimal Control theory, applied to an unmanned aerial vehicle (UAV). The first technique, based on the quadratic cost function, is the LQR controller. The second technique optimizes the norm H_infinito taking into account the pole allocation and using an approach based on LMIs. The test platform used is the quadrotor AR.Drone 2.0 and the algorithms are implemented in the Robot Operating System (ROS).

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Published

2021-10-20

Issue

Vol. 1 No. 1 (2021): SBAI2021

Section

Articles