Pendulum-like oscillation controller for micro aerial vehicle with ducted fan based on LQR and PSO

This paper describes a novel type of pendulum-like oscillation controller for micro air vehicle (MAV) hover and stare state in the presence of external disturbances, which is based on linear-quadratic regulator (LQR) and particle swarm optimization (PSO). A linear mathematical model of pendulum phenomenon based upon actual wind tunnel test data representing the hover mode is established, and a hybrid LQR and PSO approach is proposed to stabilize oscillation. PSO is applied to parameter optimization of the designed LQR controller. A series of comparative experiments are conducted, and the results have verified the feasibility, effectiveness and robustness of our proposed approach.