Publication: Finite-Horizon LQR Control of Quadrotors on SE2(3)
| dc.contributor.author | Cohen M.R. | en_US |
| dc.contributor.author | Abdulrahim K. | en_US |
| dc.contributor.author | Forbes J.R. | en_US |
| dc.date.accessioned | 2024-05-29T01:59:22Z | |
| dc.date.available | 2024-05-29T01:59:22Z | |
| dc.date.issued | 2020 | |
| dc.description.abstract | This letter considers optimal control of a quadrotor unmanned aerial vehicles (UAV) using the discrete-time, finite-horizon, 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. � 2016 IEEE. | |
| dc.identifier.doi | 10.1109/LRA.2020.3010214 | |
| dc.identifier.epage | 5755 | |
| dc.identifier.issn | 23773766 | |
| dc.identifier.issue | 4 | |
| dc.identifier.scopus | 2-s2.0-85089918157 | |
| dc.identifier.spage | 5748 | |
| dc.identifier.uri | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85089918157&doi=10.1109%2fLRA.2020.3010214&partnerID=40&md5=ae8b2173a21c2a40389e280c003bfd4a | |
| dc.identifier.uri | https://ieeexplore.ieee.org/document/9143426 | |
| dc.identifier.uri | https://oarep.usim.edu.my/handle/123456789/10056 | |
| dc.identifier.volume | 5 | |
| dc.language | English | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | en_US |
| dc.relation.ispartof | IEEE Robotics and Automation Letters | |
| dc.source | Scopus | |
| dc.subject | Optimization and optimal control | en_US |
| dc.title | Finite-Horizon LQR Control of Quadrotors on SE2(3) | en_US |
| dc.type | Article | en_US |
| dspace.entity.type | Publication |