A Quadcopter study looked like a fun challenge. It’s a busy area of interest, so there are papers and materials to use as a guide.

In the process, we’ll revisit optimal control, estimation, classical and state-space design techniques, system linearization methods and other topics. This is a good problem for a deep-dive due to the many degrees-of-freedom and multiple inputs and multiple outputs.

Simulation Methods: Double Integrator Example

## Simulation Methods: Double Integrator Example

In the last post I focused on placing the lead zero for the roll and pitch axes based on the limit imposed by a second double-pole our plant introduces via the motor-propeller, ‘A’ term. I neglected to calculate the proportional gain required for unity-gain crossover at the frequency of maximum phase margin. I also did …

I covered, “PID” (Proportional-Integral-Differential) or, “classical” controller designs for the quadrotor platform in a post last fall…time flies! We really only employ the P and the D elements. The, ‘D’ is the, “lead compensator”. The proportional gain P is the last step and you can see how this design technique is performed in that post. This is …

Big gap since the last post where we finally got the state-space model laid down. It got us to the plant model derived by Bouabdallah and others in his paper that we’ve used as a guide from the start. The goal all along has been not only to analyze and design candidate controllers for a Quadrotor platform, but to …

Linear Quadratic Control with Reference Input

## Linear Quadratic Control with Reference Input

The last post was our introduction to the Linear Quadratic Regulator (LQR). We saw there that as we started with initial conditions or introduced a disturbance the LQR will drive the states to zero. In the simulations we saw the graphic of the copter converge on the zero state: zero roll, pitch, yaw, and respective …