Analysis of Advanced Control Methods for Quadrotor Trajectory Tracking

Analysis of Advanced Control Methods for Quadrotor Trajectory Tracking

Bibliographic Details
Main Author: Milburn, Tyler
Language:English
Published: The Ohio State University / OhioLINK 2018
Subjects:
Electrical Engineering
Differential Flatness
iLQR
LQR
PID
Quadrotor
Control
Stability
Trajectory
Online Access:http://rave.ohiolink.edu/etdc/view?acc_num=osu1532078119456277
id ndltd-OhioLink-oai-etd.ohiolink.edu-osu1532078119456277
record_format oai_dc
spelling ndltd-OhioLink-oai-etd.ohiolink.edu-osu15320781194562772021-08-03T07:07:43Z Analysis of Advanced Control Methods for Quadrotor Trajectory Tracking Milburn, Tyler Electrical Engineering Differential Flatness iLQR LQR PID Quadrotor Control Stability Trajectory Nonlinear systems are difficult to design a stabilizing and optimized control for, and with the increase of use of quadrotors by researchers, industry, and hobbyists, existing control methods should be analyzed to test the ability to control these devices. Many off-the-shelf quadrotors rely on onboard sensing and PID controllers to remain stable, however these devices are more commonly being used to perform fast obstacle avoidance and trajectory tracking, whose fast dynamics may not be trackable with PID controllers. We consider Linear Quadratic Regulator (LQR), iterative LQR, and Differential Flatness-based control methods to a quadrotor system to compare their performance to the onboard PID controllers. Considering a quadrotor used for tracking trajectories with a narrow corridor, the different controllers were designed and simulated using Matlab, applying interesting situations to test the robustness of the controllers, including noisy state measurements, delayed control action, and uncertainty in system parameters. In each scenario, the flatness-based control method is superior in robustly tracking the desired trajectory without requiring high computational power, possibly allowing the full control method to be implemented on a quadrotor microcontroller and improving the performance of the quadrotor's tracking abilities. 2018-10-08 English text The Ohio State University / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=osu1532078119456277 http://rave.ohiolink.edu/etdc/view?acc_num=osu1532078119456277 unrestricted This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws.
collection NDLTD
language English
sources NDLTD
topic Electrical Engineering
Differential Flatness
iLQR
LQR
PID
Quadrotor
Control
Stability
Trajectory
spellingShingle Electrical Engineering
Differential Flatness
iLQR
LQR
PID
Quadrotor
Control
Stability
Trajectory
Milburn, Tyler
Analysis of Advanced Control Methods for Quadrotor Trajectory Tracking
author Milburn, Tyler
author_facet Milburn, Tyler
author_sort Milburn, Tyler
title Analysis of Advanced Control Methods for Quadrotor Trajectory Tracking
title_short Analysis of Advanced Control Methods for Quadrotor Trajectory Tracking
title_full Analysis of Advanced Control Methods for Quadrotor Trajectory Tracking
title_fullStr Analysis of Advanced Control Methods for Quadrotor Trajectory Tracking
title_full_unstemmed Analysis of Advanced Control Methods for Quadrotor Trajectory Tracking
title_sort analysis of advanced control methods for quadrotor trajectory tracking
publisher The Ohio State University / OhioLINK
publishDate 2018
url http://rave.ohiolink.edu/etdc/view?acc_num=osu1532078119456277
work_keys_str_mv AT milburntyler analysisofadvancedcontrolmethodsforquadrotortrajectorytracking
_version_ 1719454499440951296

Similar Items