Quadcopter control using discrete-time LQR-I

Matlab files to perform a simulation in which a quadcopter system is controlled by a LQR-I discrete-time controller to track a trajectory. The controller features and inner-outer loop architecture. These files were used to obtain the results shown in [1].

Files

• Quad_Sim_LQR_I.m : Simulink file that sets up the quadcopter continuous-time model and the LQR-I discrete-time controller. .
• run_simulation.m : Sets up the model and controller parameters and runs the simulation in Quad_Sim_LQR_I.m.
• plot_simulation_results.m : Plots simulations results obtained by run_simulation.m.
• LQR_I_gain_tuning.m : Helps tune LQR controllers based on quadcopter physical properties. These can be then set in run_simulation.m.
• trajectory_generator.m : Generates an inclined circular trajectory .csv file that can be used for Quad_Sim_LQR_I.m.
• trapzFilter.m : Second-order discrete-time filter used in trajectory_generator.m.
• ref_Traj.csv : Reference trajectory .csv file that can be used to test run_simulation.m.

Citing work

• [1] Paredes, J., Sharma, P., Ha, B., Lanchares, M., Atkins, E., Gaskell, P., & Kolmanovsky, I. (2021). Development, implementation, and experimental outdoor evaluation of quadcopter controllers for computationally limited embedded systems. Annual Reviews in Control, 52, 372-389.