The paper begins by deriving the mathematical model for the kinematics and dynamics of the quadcopter UAV, including the linearized state-space representation about hover conditions. It then presents the design of both traditional LQR and LQRi controllers to stabilize the UAV in hover conditions and track desired attitude commands.
The controllers are implemented on the Pixhawk flight controller, and their performance is evaluated through high-fidelity software-in-the-loop (SITL) simulations and outdoor flight tests. The results show that the LQRi controller outperforms the traditional LQR, with a 30% improvement in attitude reference tracking in the SITL environment and a 40% improvement in roll and pitch axis tracking during the flight tests.
The paper also discusses the advantages of using the ArduPilot SITL environment for controller validation, including its high-fidelity simulation, seamless integration with the flight control software, and flexible configurability. Finally, the authors have made the code related to the LQRi controller implementation available for replication and further research.
To Another Language
from source content
arxiv.org
Key Insights Distilled From
by Astik Srivas... at arxiv.org 04-19-2024
https://arxiv.org/pdf/2404.12261.pdfDeeper Inquiries