UAV Attitude Control with LQR Controller Based on Extended State Observer

Authors

Pan Jian, Department of Electrical and Electronic Engineering, Hubei University of Technology, Wuhan 430068, China;
Changlong Liu, Department of Electrical and Electronic Engineering, Hubei University of Technology, Wuhan 430068, China;

Abstract

Abstract: Due to the external disturbances and parameter variations in the complex environment, the traditional linear quadratic controller (LQR) may induce instability to the controlled object. A control strategy of LQR based on extended state observer (ESO) is proposed, which aims to ensure the working reliability of the controlled object in complex environment. The nonlinear mathematical model of the quadrotor Qball-X4 is established. The ESO’s abilities of estimating and compensating the impact of internal/external disturbances simultaneously are used to improve the LQR attitude controller. Matlab/Simulink simulation and an experiment of trajectory tracking on the quadrotor Qball-X4 verify the validity of the proposed algorithm.

Recommended Citation

Jian, Pan and Liu, Changlong (2019) "UAV Attitude Control with LQR Controller Based on Extended State Observer," Journal of System Simulation: Vol. 30: Iss. 2, Article 47.
DOI: 10.16182/j.issn1004731x.joss.201802047
Available at: https://dc-china-simulation.researchcommons.org/journal/vol30/iss2/47

First Page

753

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201802047

Last Page

759

CLC

TB273+.1

Recommended Citation

Pan Jian, Liu Changlong. UAV Attitude Control with LQR Controller Based on Extended State Observer[J]. Journal of System Simulation, 2018, 30(2): 753-759.

DOI

10.16182/j.issn1004731x.joss.201802047