Search

The work presented in this paper is a ground-breaking initiative to design a translational optimal controller named HEX2OQTAL. The controller is capable of producing high precision translational tracking using a linearized model of a trajectory error based on a quaternion attitude representation. This control contribution is general in the sense that it is agnostic of the underlying vehicle; the results are presented for an unmanned aerial vehicle (UAV) experimentally, a spacecraft scenario in simulation, and a precision planetary landing scenario. The paper presents a full derivation from base principles, a proof of stability, and real-time repeatable experimental UAV results (25 tests per controller per scenario). These results show that the developed controller presented here is far more precise than the most common industry standard controllers, such as PID and classical LQR. The obtained results show the potential of this controller not only as an accurate and adaptable controller, but also in high precision trajectory tracking control. [ABSTRACT FROM PUBLISHER]

Linear quadratic regulator is a powerful technique for dealing with the control design of any linear and nonlinear system after linearization of the system around an operating point. For small systems, which have fewer state variables, the transformation of the performance index from scalar to matrix form can be straightforward. On the other hand, as the system becomes large with many state variables and controllers, appropriate design and notations should be defined to make it easy to automatically implement the technique for any large system without the need to redesign from scratch every time one requires a new system. The main aim of this article was to deal with this issue. This article shows how to automatically obtain the matrix form of the performance index matrices from the scalar version of the performance index. Control of a full-vehicle in cornering was taken as a case study in this article. [ABSTRACT FROM AUTHOR]