UAV LQR Control in MATLAB

This MATLAB project demonstrates the implementation of a Linear Quadratic Regulator (LQR) controller and Luenberger Observer for a UAV (Unmanned Aerial Vehicle).

Project Objectives

1. Effectively simulate the dynamics of a quadrotor in MATLAB/Simulink.
2. Design a controller for trajectory tracking that can handle linear trajectories, using the Linear Quadratic Regulator (LQR).
3. Evaluate the performance of the closed-loop system through simulations to ensure that it meets the design specifications.
4. Introduce a constant external force disturbance in the model that simulates a constant wind.
5. Design a linear controller that can automatically compensate for the disturbance.
6. Visualize the quadrotor's motion and the results of the tracking controllers in a real-time animated plot to analyze and present the system's behavior.

Getting Started

1. Clone or download the repository to your local machine.
2. Open MATLAB and navigate to the project directory.

File Description

• model_LQR_Obsever.m: The main script that executes the UAV LQR & Integrator & obsever. Modify this file to adjust the control gains and cost function weights.
• Basic_Linear_model.m: Basic UAV’s Model script.
• QRotorSimulation.slx: Simulation of LQR controller design. Modify this file to adjust the control gains and cost function weights.
• skew.m: functions for calculate the skew matrix.
• visualization.m: UAV path visualization.

Usage

1. Open model_LQR_Obsever.m and Basic_Linear_model.m in MATLAB and run it get the controller gain.
2. OpenQRotorSimulation.slx ,there are four part of different situations, run it for simulation respectively.
3. Specify the initial conditions, desired states, and other control parameters.
4. use visualization.m or UAV toolbox to watch the flight path

Different situations

1. Integrator: Model with integrator part to against the wind distribution.
2. Basic: Basic model with no wind condition.
3. BasicNoWind:Basic model with wind condition.
4. VObserver: Model without velocity state use Luenberger Obsever.