Mechatronics, Electrical Power, and Vehicular Technology
Vol 6, No 1 (2015)

A Modified Gain Schedulling Controller by Considering the Sparseness Property of UAV Quadrotors

M Qodar Abdurrohman (Universitas Gadjah Mada)
Reka Inovan (Universitas Gadjah Mada)
Ahmad Ataka (Universitas Gadjah Mada)
Hilton Tnunay (Universitas Gadjah Mada)
Ardhimas Wimbo (Universitas Gadjah Mada)
Iswanto Iswanto (Universitas Gadjah Mada)
Adha Cahyadi (Universitas Gadjah Mada)
Yoshio Yamamoto (Tokai University)

Article Info

Publish Date
30 Jun 2015

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

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Journal Info
Mechatronics, Electrical Power, and Vehicular Technology
Website

Abbrev

mev

Publisher

Lembaga Ilmu Pengetahuan Indonesia

Subject

Electrical & Electronics Engineering

Description

Mechatronics, Electrical Power, and Vehicular Technology (hence MEV) is a journal aims to be a leading peer-reviewed platform and an authoritative source of information. We publish original research papers, review articles and case studies focused on mechatronics, electrical power, and vehicular ...