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Extended Kalman Filter and LQR controller design for quadrotor UAVs

Raja, Muneeb Masood
http://rave.ohiolink.edu/etdc/view?acc_num=wright1496152489565477

Abstract Details

2017, Master of Science in Electrical Engineering (MSEE), Wright State University, Electrical Engineering.
A quadrotor is a unique class of UAVs with vertical take off and landing (VTOL) capability and has attracted significant attention due to its importance in various applications. This thesis presents the design and experimental implementation of Extended Kalman Filters (EKFs) to estimate the states of a quadrotor and a Linear Quadratic Regulator (LQR) controller with integral action to meet the desired control objectives. In case of the Extended Kalman Filters, two different situations are considered: (1) all the states including the Inertial Measurement Unit (IMU) biases are estimated; (2) only the attitude, altitude, and vertical velocity are estimated. The second case is added as a safety feature to provide enough feedback signals to stabilize and land the quadrotor in the event of a position measurement loss, e.g. from a GPS due to jamming. A double loop control structure is implemented using an LQR controller with integral action, the inner loop contains the attitude and the altitude control, and the outer loop consists of x and y translational positions control. Finally, some preliminary results on the integration of C codes with Simulink using C MEX S-functions is described. A C library of a laser rangefinder sensor is transferred to a C MEX S-function to generate a 2D map of the environment using the laser sensor distance measurements to identify obstacles present within the range of the sensor. The concept of multi-threading and the integration of pthread library with Simulink using C MEX S-function are also described.
Xiaodong Zhang, Ph.D. (Advisor)
Kuldip Rattan, Ph.D. (Committee Member)
Jonathan Muse, Ph.D. (Committee Member)
70 p.
Aerospace Engineering; Electrical Engineering
electrical engineering; aerospace engineering

Recommended Citations

Citations

  • Raja, M. M. (2017). Extended Kalman Filter and LQR controller design for quadrotor UAVs [Master's thesis, Wright State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=wright1496152489565477

    APA Style (7th edition)

  • Raja, Muneeb Masood. Extended Kalman Filter and LQR controller design for quadrotor UAVs. 2017. Wright State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=wright1496152489565477.

    MLA Style (8th edition)

  • Raja, Muneeb Masood. "Extended Kalman Filter and LQR controller design for quadrotor UAVs." Master's thesis, Wright State University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=wright1496152489565477

    Chicago Manual of Style (17th edition)

wright1496152489565477
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© 2017, all rights reserved.
This open access ETD is published by Wright State University and OhioLINK.