/quadrotor_fslqr_matlab_sim

Primary LanguageMatlab

What is in this folder?

Quadrotor Program file for Kandai's research

File Structure

  • main
    • main program. initial setup, controller design, figures are included
  • setStateSpace_lqr
    • quadrotor model and its augmented model
  • getLqrGain
    • calculating lqr gains
  • rungekutta
    • rungekutta simulation for normal lqr with same gain as proposed method
  • rungekutta_explqr
    • rungekutta simulation for propsed method
  • getNonlineardx_body
    • None-Linear Model is described
  • drawFigures
    • all figures are included in this folder

references

Quadrotor Model

  • K. N. Tran, “Modeling and Control of Quadrotor in a Wind Field”, McGill University, 2015
  • F. Sabatino, “Quadrotor control: modeling, nonlinear control design, and simulation”, KTH, 2015
  • Modeling and control of a quadrotor in a wind field

Wind Model

  • Wind Disturbance Estimation and Rejection for Quadrotor Position Control

Controller Design

  • Use of Frequency Dependence in Linear Quadratic Control Problems to Frequency-Shaped Robustness
  • Modeling and control of a quadrotor in a wind field
  • 周波数依存重みを用いたLQG制御系の設計
  • Frequency-Shaped Cost Functional Extension of Linear Quadratic Gaussian Design Methods