Parrot AR无人机2.0线性控制器的设计与分析

2022 International Conference on Electrical and Computing Technologies and Applications (ICECTA) Pub Date : 2022-11-23 DOI:10.1109/ICECTA57148.2022.9990127

Ahmad Abughali, Obadah Habash, Ahmed M. Elshamy, M. Alansari, K. Alhammadi

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引用次数: 0

摘要

本文旨在介绍鹦鹉AR无人机2.0线性控制器的设计和分析。我们通过其状态空间表示来研究系统的属性。然后，我们描述了基于极点放置方法的状态反馈控制器和观测器的构造，以稳定和更好地控制系统。在此基础上，构造了线性二次型调节器(LQR)，用于轨迹跟踪，提高了系统的性能。最后，利用Simulink对系统在引入风干扰时的性能进行了观察。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design and Analysis of a Linear Controller for Parrot AR Drone 2.0

This paper aims to present the design and analysis of a Parrot AR Drone 2.0 linear controller. We investigate the system’s properties through its state-space representation. We then describe the construction of a state-feedback controller and observer based on the pole-placement method in order to stabilize and yield better control of the system. After that, we construct a Linear Quadratic Regulator (LQR) for trajectory tracking and improving the system’s performance. Finally, Simulink is used to observe the system’s performance when wind disturbance is introduced.

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2022 International Conference on Electrical and Computing Technologies and Applications (ICECTA)

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