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All Journal Mechatronics, Electrical Power, and Vehicular Technology
Reka Inovan, Reka
Universitas Gadjah Mada
Electrical & Electronics Engineering

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A Modified Gain Schedulling Controller by Considering the Sparseness Property of UAV Quadrotors Abdurrohman, M Qodar; Inovan, Reka; Ataka, Ahmad; Tnunay, Hilton; Wimbo, Ardhimas; Iswanto, Iswanto; Cahyadi, Adha; Yamamoto, Yoshio
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 6, No 1 (2015)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (3347.433 KB) | DOI: 10.14203/j.mev.2015.v6.9-18

Abstract

This work presented the gain scheduling based LQR for Quadrotor systems. From the original nonlinear model, the system is always controllable and observable in various equilibrium points. Moreover, the linearized systems have a unique property that is known as sparse system. Hence, in order to implement the most efficient state feedback controller, post-filter and pre-filter were introduced to transform the state coordinate to decrease coupling between states. Finally, the gain scheduling systems using these facts was proposed. The system behavior was tested using the proposed controller. The numerical studies showed the effectiveness of the controller to achieve desired altitude, attitude, and its ability during the disturbance
Co-Authors Adha Cahyadi, Adha Ahmad Ataka Awwalur Rizqi, Ahmad Ataka Ardhimas Wimbo, Ardhimas Hilton Tnunay, Hilton Iswanto Iswanto M Qodar Abdurrohman, M Qodar Yoshio Yamamoto