PID and LQR trajectory tracking control for an unmanned quadrotor helicopter: Experimental studies
The paper presents two trajectory tracking control strategies for an Unmanned Aerial Vehicle (UAV) Quanser Qball X4 quadrotor. The mathematical model of the quadrotor Quanser Qball X4 are studied. Based on the model, the Proportional Integral Derivative (PID) controller and Linear Quadratic Regulator (LQR) controller are designed to solve trajectory tracking problem for a Qball X4. Simulations and experiments are carried out to compare the effectiveness of the designed control strategies.
2016 35th Chinese Control Conference (CCC)