UAV Attitude Control with LQR Controller Based on Extended State Observer

doi:10.16182/j.issn1004731x.joss.201802047

Journal of System Simulation ›› 2018, Vol. 30 ›› Issue (2): 753-759.doi: 10.16182/j.issn1004731x.joss.201802047

UAV Attitude Control with LQR Controller Based on Extended State Observer

Pan Jian, Liu Changlong

Department of Electrical and Electronic Engineering, Hubei University of Technology, Wuhan 430068, China

Received:2016-01-18 Online:2018-02-08 Published:2019-01-02

Abstract

Abstract: Due to the external disturbances and parameter variations in the complex environment, the traditional linear quadratic controller (LQR) may induce instability to the controlled object. A control strategy of LQR based on extended state observer (ESO) is proposed, which aims to ensure the working reliability of the controlled object in complex environment. The nonlinear mathematical model of the quadrotor Qball-X4 is established. The ESO’s abilities of estimating and compensating the impact of internal/external disturbances simultaneously are used to improve the LQR attitude controller. Matlab/Simulink simulation and an experiment of trajectory tracking on the quadrotor Qball-X4 verify the validity of the proposed algorithm.

Key words: extended state observer (ESO), linear quadratic controller (LQR), quadrotor UAV, attitude controller

CLC Number:

TB273+.1

Pan Jian, Liu Changlong. UAV Attitude Control with LQR Controller Based on Extended State Observer[J]. Journal of System Simulation, 2018, 30(2): 753-759.

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UAV Attitude Control with LQR Controller Based on Extended State Observer

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