LQR Control for A Quad-Rotor Helicopter Based on RBF-ARX Mode
LIU Lili
ZUO Jihong
WU Jun
Abstract：For the quad-rotor helicopter which is nonlinear and coupled with each other, the design of LQR controller on quad-rotor helicopter based on RBF-ARX mode are discussed.The structure of the quad-rotor helicopter' RBF-ARX model based on dynamic properties is built firstly, and the model parameters is identified using the off-line nonlinear parameter optimization methods, the quad-rotor helicopter's nonlinear dynamic model is obtained to meet the demand of engineering precision.then, the state feedback 's LQR controller based on the model is given, and by solving the Riccati equation of working point, the state feedback matrix is accessed.Finally, the simulation results and real time attitude control verify the validity and feasibility of the proposed method.
Keywords：quad-rotor helicopternonlinearattitude controlstate feedbackreal time control
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 659-664,674 )