Modeling and LQR control of a Quadrotor
Keywords:
Dynamic model, linear system, non-linear system, quadrotor, LQR controlAbstract
This work shows the study of the dynamic modelfor a quad-rotor helicopter, which consists of acentral body formed by a box with the batteriesand on-board computers for control and avionicfunctions. The body is joined by four beams whichhave a motor with two rotating wings at the farextreme of each of them. This gives sustentation tothe vehicle and gives the possibility of controllingthe orientation and translation of the system.Although several theoretical papers can giveaccount of the quad-rotors dynamic model, manyof these attempts make several assumptions thatare only true for small indoor type vehicles. Forthis reason, the first stage of this work is to modelphysically the dynamics of the vehicle as a totallynon-linear system, where the complex dynamicsof the rotating wings are taken into account. Thisis followed by a linearization and a comparisonbetween the “real” and linear systems and thendesign a LQR control for it stabilization.
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References
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