Lifting Linearization of UAV

Overview

Non-linear System	Linear System

Auxiliary Parameters

Eta	Gamma

To Run this code

• run init.m at the beginning
• Modify Parameters.m to change initial conditions

Code Flow

• Linearization: main1.m
  1. GenerateTrainingInput
  2. SysIdentification
  3. ModelValidation
  4. plot_validation
• LQR Controller Design: main2.m
  1. GenerateTrainingInput
  2. SysIdentification
  3. LQRController

Folder Structure

• Linearization: Code to generate linearized model
• Sim: Simulink files
• Controller: LQR and Servo Cotroller
• Data: Best Model data

Results:

• Linearization:

• LQR Controller: