Optimization of LQR Weight Matrix to Control Three Degree of Freedom Quadcopter
Küçük Resim Yok
Tarih
2017
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Ieee
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
In this study, Q and R weight matrices of a Linear Quadratic Regulator (LQR) were optimized to control three-degree-of-freedom four-rotor Quadrocopter system (3 DOF Hover). The weighted matrices, obtained by Darwinian Particle Swarm Optimization (DPSO) and Fractional Order Darwinian Particle Swarm Optimization (FODPSO) methods, have been tested on the simulation model of Quadrocopter. The weight matrices, which provide good control in simulation, were run in real time on the 3 DOF Hover prototype and the effects on control performance were examined.
Açıklama
2017 International Artificial Intelligence and Data Processing Symposium (IDAP) -- SEP 16-17, 2017 -- Malatya, TURKEY
Anahtar Kelimeler
LQR, optimization, 3 DOF Hover
Kaynak
2017 International Artificial Intelligence and Data Processing Symposium (Idap)
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
