Auto VTOL System on Quadrotor Using Madgwick Quaternion Kalman Filter and LQR

Dharmawan, Andi; Ashari, Ahmad; Aprilia, Angela Gusti; Handayani, Ariesta Martiningtyas

doi:10.1109/icstc.2018.8528613

Cited by 7 publications

(2 citation statements)

References 10 publications

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“…Madgwick filter is an estimator based on the inputs. So that, multi-axis signal is estimated based on quaternion representation as follows [24], [25]: is the rate of change in signals. In (33), the signal X 𝜔 𝑡 = [0 𝜔 𝑥 𝜔 𝑦 𝜔 𝑧 ] is the rotation angle that is given by the signal and the signal X 𝑠 𝑡 = [0 𝑎 𝑥 𝑎 𝑦 𝑎 𝑧 ] is the signal along axis 𝑥, 𝑦, and 𝑧, that is given by the accelerometer with quaternion description at time 𝑡.…”

Section: Detection and Prediction Of Discolorationmentioning

confidence: 99%

Two cross coupled and Madgwicks filter for estimation of multi-channel dividing systems

Kadhim

Alrubaie

Al‐Kharsan

2022

IJEECS

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The estimates of Rayleigh fading channels are rapidly changing in multi carrier direct sequence code division multiple access (MC-DS-CDMA) multiplexing systems. The most widely accepted answer to this issue is the conventional solution least square (LS) or mean square error estimator (MMSE) using the recursive least squares algorithm (RLS) or the least mean squares (LMS) algorithm. In much of the previous work, only one Kalman filter was used for estimation. In this paper, a Kalman filter is used with a Madgwicks filter together to satisfy the fading problems. However, this requires a priori evaluation of auto regressive (AR) parameters. A standard solution involves the first matching of the auto-completion function of the applying the AR method to Jakes' problem and then tackling it (YWE). Even more the results procedure is limited to crowd constraints and is related to an AR+ process of noise, an approximation considered. In fact, depending on simulation findings, high-AR models outperform conventional models on the basis of spectral estimate and bit error margins (BER). Nevertheless, in order to save costs of computing, the 5-D model of AR is a possibility. The proposed process outperforms edge of art competitors in terms of bit error rate as demonstrated by results.

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Section: Detection and Prediction Of Discolorationmentioning

confidence: 99%

Two cross coupled and Madgwicks filter for estimation of multi-channel dividing systems

Kadhim

Alrubaie

Al‐Kharsan

2022

IJEECS

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“…In autonomous VFW, a controller is at least needed to control attitude and trajectory to achieve stable flight [20,21]. Based on several studies [22][23][24], linear quadratic regulator (LQR) control has robustness for multirotor control. In addition, LQR also has satisfactory performance for fixed-wing control [25][26][27].…”

Section: Introductionmentioning

confidence: 99%

Model, Control, and Realistic Visual 3D Simulation of VTOL Fixed-Wing Transition Flight Considering Ground Effect

Irmawan

Harjoko

Dharmawan

2023

Drones

Self Cite

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The research topic of VTOL (vertical take-off and landing) fixed wing (VFW) is gaining significant attention, particularly in the transition phase from VTOL to fixed wing and vice versa. One of the latest and most challenging transition strategies is the bird take-off mode, where vertical and horizontal take-off is carried out simultaneously, mimicking the behavior of birds. The condition that is rarely considered when taking off is the ground effect. Under natural conditions, a ground effect is bound to occur, which can significantly impact the stability of the transition when the VFW is close to the ground. This paper addresses this issue by proposing a model and control strategy and conducting realistic visual 3D simulations of the VFW transition that incorporates ground effect using full complex aerodynamic parameters. This research represents a novel approach, using the robot operating system (ROS) and Gazebo to conduct realistic visual 3D simulations for VFW transition. The linear quadratic regulator (LQR) control method is used to manage the transitions and compensate for any disturbances. The flight tests demonstrate the effectiveness of the proposed model and controller in executing flight missions using the bird take-off mode transition. Moreover, the controller has demonstrated reliability and robustness in compensating for attitude errors induced by ground effects and external disturbances.

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Accurate Attitude Control for an Asymmetrical Hexacopter Under Exogenous Disturbance

Hu¹,

Zheng²,

Liu³

et al. 2022

2022 34th Chinese Control and Decision Conference (CCDC)

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Auto VTOL System on Quadrotor Using Madgwick Quaternion Kalman Filter and LQR

Cited by 7 publications

References 10 publications

Two cross coupled and Madgwicks filter for estimation of multi-channel dividing systems

Two cross coupled and Madgwicks filter for estimation of multi-channel dividing systems

Model, Control, and Realistic Visual 3D Simulation of VTOL Fixed-Wing Transition Flight Considering Ground Effect

Accurate Attitude Control for an Asymmetrical Hexacopter Under Exogenous Disturbance

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