Objectives
The aim of this project is to model a Quadrotor, evaluate different attitude controllers, and design two controllers to be tested on the Quanser 3-DOF Hover testbed. Neglecting the effects of drag, gyroscopic effects, bias voltage, saturation limit, disturbances, and nonlinearities can have serious implications on the system’s actual performance. Thus, controllers designed for a linearized simplistic system have to be experimentally evaluated. The different controllers are tested first on simulations to compare their performance, and then deployed on the Quanser testbed to demonstrate their effectiveness and robustness.
Conclusion
Different controllers have been developed and deployed on the Quanser 3DoF Hover testbed. The proportional controller exhibited a large overshoot, settling time, and oscillations, while the LQR controller placed a weight on performance resulting in a more aggressive response in terms of rise and settling times. However, both controllers had a steady state error and weren’t effective in rejecting disturbances. An LQI controller was designed, simulated, and experimentally proven to remove the steady state error and successfully reject various disturbances including a change in the moment of inertia, an unbalanced system, and the ground effect. Also, the controller exhibited a tracking behavior to a sine wave on the pitch and roll, and a ramp on the yaw with minimal error.
Regulation and Disturbance Rejection for LQR Controller:
Tracking and Disturbance Rejection for LQI Controller:
Yves Daoud 