Mathematical Modeling of a Mobile Robot's Motion Control System based on LQR

Abstract

Now, the development of mobile robots is a promising industry, as these types of robots are acquiring more and more functionality for solving various tasks and in most cases are developed as universal robots that help perform different tasks simultaneously. In this regard, this article discusses the problem of developing a mathematical model of a motion control system for a helicopter-type mobile robot. A mathematical model of a mobile robot motion control system has been developed, using an unmanned aerial vehicle (UAV) as an example, which allows you to track the flight movement in state space. Simulation model of UAV control system based on a PD-controller has been developed using Matlab/Simulink. The simulation model controls the spatial motion of the UAV through four control channels (roll, pitch, yaw, and altitude). The calculations were performed based on the optimal method using the integral quadratic criterion for a nonstationary linear control system. The simulation results show that the developed mathematical model is an optimal simulation for stabilizing a mobile robot (UAV) in desired positions and orientations.