Hi,
I've just relaxed the conditions on the values of the final state from \(|x_i(t)|\leq 0.001\) for \(i=1,2,3,4\) to \(|x_i(t)|\leq 0.01\) for \(i=1,2,3,4\).
Best,
Martin Gurtner
Hello,
I have a question about the LQR for planar quadrotor control. In my case, the control system diverges. I use the model, described in the attached picture (state is s = [y, z, th, dy, dz, dth], control variabls are u = [a, alpha]). I define the matrices A and B as follows.
What can be the problem? And how to properly constrain the theta angle?
Thank you.
Ac =
0 0 0 1.0000 0 0
0 0 0 0 1.0000 0
0 0 0 0 0 1.0000
0 0 9.8000 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
Bc =
0 0
0 0
0 0
0 0
1 0
0 1
You are supposed to use the simplified model without the state $z(t)$ (as described in the homework assignment). You cannot directly constrain the $\theta$ angle, you need to tune the LQR so that the angle in simulation is within the specified bounds.