DocumentCode
1532420
Title
LQR gain-schedule controller for vertical line following
Author
Whang, Ick-Ho ; Cho, Sangyeun
Author_Institution
Dept. of Guidance & Control, Agency for Defense Dev., Daejeon, South Korea
Volume
46
Issue
14
fYear
2010
fDate
7/1/2010 12:00:00 AM
Firstpage
991
Lastpage
993
Abstract
A novel guidance controller for UAVs to follow a line in the vertical plane based on the well-known linear quadratic regulator (LQR) theory is proposed. Robustness margins are derived based on Lyapunov stability analysis, and an efficient way to design the controller using performance prediction is suggested.
Keywords
Lyapunov methods; aerospace robotics; control system synthesis; linear quadratic control; mobile robots; path planning; remotely operated vehicles; robot kinematics; stability; LQR gain-schedule controller; Lyapunov stability analysis; guidance controller; linear quadratic regulator theory; performance prediction; robustness margin; unmanned aerial vehicles; vertical line following;
fLanguage
English
Journal_Title
Electronics Letters
Publisher
iet
ISSN
0013-5194
Type
jour
DOI
10.1049/el.2010.0947
Filename
5507608
Link To Document