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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: