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
fDate :
7/1/2010 12:00:00 AM
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;
Journal_Title :
Electronics Letters
DOI :
10.1049/el.2010.0947
