Linear Quadratic Regulator for Trajectory Tracking of a Quadrotor

摘要

In this paper, an inner-outer loop control structure with linear quadratic optimal controllers and integrative action is proposed for trajectory tracking of an Unmanned Aerial Vehicle. The dynamic model of the quadrotor is derived and linearized in preparation for the design of the controllers. The full state-feedback relies on measurements from motion sensors installed on-board and on on-flight estimates provided by Kalman filters and an attitude filter. The control system obtained is validated in simulation and implemented in a commercially available drone, equipped with an Inertial Measurement Unit, a compass and an altimeter. The inertial position of the drone is given by a motion capture system.