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Extended Kalman Filter And Lqr Controller Design For Quadrotor Uavs, Muneeb Masood Raja
Extended Kalman Filter And Lqr Controller Design For Quadrotor Uavs, Muneeb Masood Raja
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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 …