Updating LQR Control for Full Dynamic of a Quadrotor

摘要

This paper is focused on the dynamic modeling and control of a quadrotor. The main objective of this paper is providing a complete governing quadrotor dynamic equation system using the Euler-Lagrange method considering all aerodynamic forces which affect its motion and designing an Updating LQR control for dynamic equations. The system's performance is tested by simulation of two numerical examples and the results of full dynamic model and designed controller are validated by these benchmarks. In the first example, altitude control and trajectory of the quadrotor is tested by normal LQR and updating LQR. In the second one, same items are tested by accounting the influence of a connected robotic arm which changes continuously the dynamics of the system. In both examples successful trajectory and altitude control are achieved.