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All Journal Mechatronics, Electrical Power, and Vehicular Technology
M Qodar Abdurrohman
Universitas Gadjah Mada
Electrical & Electronics Engineering

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A Modified Gain Schedulling Controller by Considering the Sparseness Property of UAV Quadrotors M Qodar Abdurrohman; Reka Inovan; Ahmad Ataka; Hilton Tnunay; Ardhimas Wimbo; Iswanto Iswanto; Adha Cahyadi; Yoshio Yamamoto
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 6, No 1 (2015)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2015.v6.9-18

Abstract

This work presented the gain scheduling based LQR for Quadrotor systems. From the original nonlinear model, the system is always controllable and observable in various equilibrium points. Moreover, the linearized systems have a unique property that is known as sparse system. Hence, in order to implement the most efficient state feedback controller, post-filter and pre-filter were introduced to transform the state coordinate to decrease coupling between states. Finally, the gain scheduling systems using these facts was proposed. The system behavior was tested using the proposed controller. The numerical studies showed the effectiveness of the controller to achieve desired altitude, attitude, and its ability during the disturbance
Co-Authors Adha Cahyadi Ahmad Ataka Awwalur Rizqi, Ahmad Ataka Ardhimas Wimbo Hilton Tnunay Iswanto Iswanto Reka Inovan Yoshio Yamamoto