Control of 3 DOF Quadrotor Model
نویسندگان
چکیده
Abstract – The modeling and control of 3 Degrees-of-Freedom (DOF) four-rotor rotorcraft is presented in this paper. Optimal control (LQR), LQR with gain scheduling, feedback linearization and sliding-mode control are simulated and tested on an experimental rig. The performance of the individual controllers are compared and discussed. Our simulation showed Sliding Mode Control (SMC) returned the best performance with the fastest state regulation while LQR with gain scheduling produced relatively good performance with less total control effort.
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