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Communication-efficient optimal-based control of a quadrotor UAV by event-Triggered Mechanism
Nazaruddin Y.Y.a,b, Widyotriatmo A.a, Tamba T.A.a,c, Arifin M.S.a, Santosa R.A.a
a Instrumentation Control Research Group, Institut Teknologi Bandung, National Center for Sustainable Transportation Technology, Bandung, Indonesia
b National Center for Sustainable, Transportation Technology, Bandung, Indonesia
c Dept. of Electrical Engineering, Parahyangan Catholic University, Indonesia
[vc_row][vc_column][vc_row_inner][vc_column_inner][vc_separator css=”.vc_custom_1624529070653{padding-top: 30px !important;padding-bottom: 30px !important;}”][/vc_column_inner][/vc_row_inner][vc_row_inner layout=”boxed”][vc_column_inner width=”3/4″ css=”.vc_custom_1624695412187{border-right-width: 1px !important;border-right-color: #dddddd !important;border-right-style: solid !important;border-radius: 1px !important;}”][vc_empty_space][megatron_heading title=”Abstract” size=”size-sm” text_align=”text-left”][vc_column_text]© 2018 IEEE.This paper presents an application of an LQR-based event-Triggered method for position control of a quadrotor UAV. Performance comparison of the developed LQR with and without event-Triggered update strategies is evaluated within the context of quadrotor UAV position control. Simulation results are presented to illustrate the trade-off between efficiency improvement in communication system resource utilization and graceful degradation of the system’s performance which occurs when implementing the proposed event-Triggered LQR position controller.[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Author keywords” size=”size-sm” text_align=”text-left”][vc_column_text]Efficiency improvement,Event-triggering,Graceful degradation,Performance comparison,Position controller,Quad-rotor UAV,System resource utilization,System’s performance[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Indexed keywords” size=”size-sm” text_align=”text-left”][vc_column_text]event triggering,LQR,quadrotor UAV[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Funding details” size=”size-sm” text_align=”text-left”][vc_column_text]ACKNOWLEDGMENT The authors gratefully acknowledge the research support from the Ministry of Research, Technology and Higher Education (KEMENRISTEKDIKTI) of the Republic of Indonesia.[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”DOI” size=”size-sm” text_align=”text-left”][vc_column_text]https://doi.org/10.1109/ACDT.2018.8593118[/vc_column_text][/vc_column_inner][vc_column_inner width=”1/4″][vc_column_text]Widget Plumx[/vc_column_text][/vc_column_inner][/vc_row_inner][/vc_column][/vc_row][vc_row][vc_column][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][/vc_column][/vc_row]