Farrell, Michael David (Brigham Young University), Jackson, James (Brigham Young University), Nielsen, Jerel (Utah State University), Bidstrup, Craig (Brigham Young University), McLain, Timothy W. (Brigham Young University)

Error-State LQR Control of a Multirotor UAV

Scheduled for presentation during the Regular Session "Micro- and Mini- UAS" (ThA3), Thursday, June 13, 2019, 11:00−11:20, Heritage A

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on April 17, 2024

Abstract

We propose an implementation of an LQR controller for the full state tracking of a time-dependent trajectory with a multirotor UAV. The proposed LQR formulation is based in Lie theory and linearized at each time step according to the multirotor’s current state. We show experiments in both simulation and hardware that demonstrate the proposed control scheme’s ability to accurately reach and track a given trajectory. The implementation is shown to run onboard at the full rate of a UAVs estimated state. To the best of our knowledge, this is the first implementation of an LQR controller based in Lie theory for a multirotor UAV and the first hardware implementation of a full rate, state dependent LQR controller for a multirotor UAV.