Publication:
Finite-Horizon LQR Control of Quadrotors on SE2(3)

Simple item page
dc.contributor.authorCohen, Mitchell R.en_US
dc.contributor.authorAbdulrahim, Khairien_US
dc.contributor.authorForbes, James Richarden_US
dc.date.accessioned2024-05-29T02:57:22Z
dc.date.available2024-05-29T02:57:22Z
dc.date.issued2020
dc.description.abstractThis letter considers optimal control of a quadrotor unmanned aerial vehicles (UAV) using the discrete-time, finitehorizon, linear quadratic regulator (LQR). The state of a quadrotor UAV is represented as an element of the matrix Lie group of double direct isometries, SE2(3). The nonlinear system is linearized using a left-invariant error about a reference trajectory, leading to an optimal gain sequence that can be calculated offline. The reference trajectory is calculated using the differentially flat properties of the quadrotor. Monte-Carlo simulations demonstrate robustness of the proposed control scheme to parametric uncertainty, state-estimation error, and initial error. Additionally, when compared to an LQR controller that uses a conventional error definition, the proposed controller demonstrates better performance when initial errors are large.
dc.identifier.doi10.1109/LRA.2020.3010214
dc.identifier.epage5755
dc.identifier.issn2377-3766
dc.identifier.issue4
dc.identifier.scopusWOS:000554891100017
dc.identifier.spage5748
dc.identifier.urihttps://ieeexplore.ieee.org/document/9143426
dc.identifier.urihttps://oarep.usim.edu.my/handle/123456789/11635
dc.identifier.volume5
dc.languageEnglish
dc.language.isoen_USen_US
dc.publisherIEEE-Inst Electrical Electronics Engineers Incen_US
dc.relation.ispartofIEEE Robotics And Automation Letters
dc.subjectOptimization and optimal controlen_US
dc.titleFinite-Horizon LQR Control of Quadrotors on SE2(3)en_US
dc.typeArticleen_US
dspace.entity.typePublication

Files

Collections

Web of Science_WoS