Linear Quadratic Gaussian Control for UAVs With Improved State Estimation Against Gyroscope and Accelerometer Biases

Abstract

This paper proposes a linear quadratic Gaussian control for trajectory tracking of a quadrotor UAV. It involves implementing an optimal linear quadratic regulator control with integral action in an inner-outer loop control architecture. The full-state multi-rate extended Kalman filter generates the feedback required for the optimal control. Biases in gyroscope and accelerometer measurements are also incorporated into the Kalman filter to avoid degradation of the closed-loop response and to provide accurate state estimates. The proposed control architecture is tested on an experimental test bed consisting of a quadrotor UAV platform. The onboard inertial measurement unit, altimeter, and motion capture system provides the necessary measurements. The recorded results validate the performance of the proposed control scheme with improved state feedback generated through the extended Kalman filter.