Quadrotor Attitude and Altitude Tracking Control Using Finite Discrete-Time Linear Quadratic Tracking Controller
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Bibliographic record
Abstract
In this paper, an optimal finite discrete-time linear quadratic tracking (LQT) control method is proposed to control the altitude and attitude of a quadrotor. First, the dynamic model of the quadrotor is derived using Newton-Euler equations. Next, non-linear equations of the quadrotor are written in the state space form and linearized around an equilibrium point. Then, continuous-time linear state-space equations are converted into discrete-time equations considering a specific sampling time. Moreover, the controller design process is completed by determining the performance index and the weighting matrices, and the optimal control input is acquired for the closed-loop system. In the end, the simulation results are shown to demonstrate the robustness of the controller against parameter uncertainties and show its performance in attenuating the external disturbance effect.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.001 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it