Comparing classical and optimal control of 3D hovering

Author

Nuchkrua, Thanis ; Juthong, Nattachai

Author_Institution

Coll. of Eng., Rangsit Univ., Bangkok, Thailand

Volume

2

fYear

2004

fDate

1-3 Dec. 2004

Firstpage

1008

Abstract

This paper presents the design, construction, simulation and implementation of a three degree of freedom (DOF) hovering device, 3D-hovering, capable of pitch, roll and yaw direction motion control. The controller employs the linear quadratic regulator (LQR) combined with a Kalman filter. Simulations shows that our proposed controller outperforms the conventional controller in terms of position tracking, speed and stability. Moreover, the system is implemented on a Pentium PC and preliminary simulation results are presented.

Keywords

Kalman filters; aerospace control; control system analysis computing; control system synthesis; linear quadratic control; motion control; optimal control; stability; 3D-hovering; Kalman filter; Pentium PC; linear quadratic regulator; motion control; pitch control; position tracking; roll control; simulation; speed; stability; three degree of freedom hovering device; yaw control; Aerospace control; Differential equations; Educational institutions; Lyapunov method; Matrices; Mechatronics; Optimal control; Propellers; Riccati equations; State feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2004 IEEE Conference on

Print_ISBN

0-7803-8645-0

Type

conf

DOI

10.1109/RAMECH.2004.1438057

Filename

1438057