Upcoming Webinar: Stabilization of the Quadcopter using LQR and SMC Algorithm by Rahmi Elagib (Supervisor: Prof. Dr. Ahmet Karaarslan)

Stabilization of the Quadcopter using LQR and SMC Algorithm

Supervisor: Prof Dr. Ahmet Karaarslan, 

Prepared by: Rahmi Elagib

Abstract : In this seminar, stabilization of a quadrotor UAV using linear quadratic regulator(LQR) and sliding mode control(SMC) algorithm was presented. The control algorithm employs sliding mode control as a non-linear mechanism, to provide a robust and accurate controller. Furthermore, a linear quadratic regulator is used to eliminate the chattering as a linear control method, and it also reduces computational time without affecting accuracy. The control algorithm is made of two subsystems. The underactuated subsystem, and the full actuated subsystem, which are used to control the position and attitude angles respectively. The proposed LQR&SMC algorithm can achieve a satisfactory attitude and position tracking, and therefore İncrease the performance of the quadrotor UAV.