Quadcopter control using LQR (Linear Quadratic Regulator) in python
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Quadcopter control using LQR (Linear Quadratic Regulator) in python
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Sergio Correia on Instagram: "O controlador LQR é obtido pela minimização da função de custo J, que pondera os estados pela matriz Q e o esforço de controle pela matriz R. A solução resulta na lei de realimentação u = -Kx, onde K depende da solução da equação de Riccati. Esse arranjo garante que a matriz de malha fechada A - BK tenha autovalores com parte real negativa, assegurando estabilidade. Como consequência, o sistema apresenta margem de ganho infinita, permanecendo estável mesmo com qualq
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