Abstract – The modeling and control of 3 Degrees-of-Freedom (DOF) four-rotor rotorcraft is presented in this paper. Optimal control (LQR), LQR with gain scheduling, feedback linearization and sliding-mode control are simulated and tested on an experimental rig. The performance of the individual controllers are compared and discussed. Our simulation showed Sliding Mode Control (SMC) returned the...

An autonomous distributed LQR/APF control algorithm for multiple small spacecraft during simultaneous close proximity operations has been developed. This research contributes to the control of multiple small spacecraft for emerging operation, which may include inspection, assembly, or servicing. A control algorithm is proposed which combines the control effort efficiency of the Linear Quadratic...

This paper proposes novel approaches to design hierarchical decentralized robust controllers for homogeneous linear multi-agent systems (MASs) perturbed by disturbances/noise. Firstly, based on LQR method, we present a systematic procedure to design hierarchical decentralized optimal stabilizing controllers for MASs without disturbances/noise. Next, a method for deriving reduced-order hierarchi...

We present Extended LQR, a novel approach for locally-optimal control for robots with non-linear dynamics and non-quadratic cost functions. Our formulation is conceptually different from existing approaches, and is based on the novel concept of LQR-smoothing, which is an LQR-analogue of Kalman smoothing. Our approach iteratively performs both a backward Extended LQR pass, which computes approxi...

Dealing with a LQR controller surface subject to power and torque constraints, is an issue of nonlinear problem that is difficult to implement. This paper employs a fuzzy controller surface to replace the LQR surface subject to power and torque constraints by using class stacking, least square and Sugenotype fuzzy inference mode. Through this type of transformation, called “Optimal fuzzy contro...

We review the example of linear quadratic regulator (LQR) problem given in paper[2] by A. Chapelon and C.-Z. Xu. We discuss three different algebraic Riccati equations that are associated to such LQR problems.