@inproceedings{b02ffc5d7b2d4fe8a2f513d598947af2,
title = "Position and altitude control of a quadcopter using State-Dependent Riccati Equation (SDRE) control",
abstract = "This paper presents a solution to the problem of trajectory tracking for a quadcopter using a State-Dependent Riccati Equation (SDRE) controller. SDRE requires a pseudo-linear model of the system to be controlled so a pseudo-linear model of the quadcopter is derived first. At each time step, a control law is obtained using the SDRE approach but the state used to form the control law at each of those steps is fed from an estimator (Kalman filter). The results of a simulation done in Python are presented in the simulations section.",
keywords = "Kalman filter, Pseudo-linear system, Quadcopter, SDRE",
author = "Mapopa Chipofya and Lee, \{Deok Jin\}",
note = "Publisher Copyright: {\textcopyright} 2017 Institute of Control, Robotics and Systems - ICROS.; 17th International Conference on Control, Automation and Systems, ICCAS 2017 ; Conference date: 18-10-2017 Through 21-10-2017",
year = "2017",
month = dec,
day = "13",
doi = "10.23919/ICCAS.2017.8204401",
language = "English",
series = "International Conference on Control, Automation and Systems",
publisher = "IEEE Computer Society",
pages = "1242--1244",
booktitle = "ICCAS 2017 - 2017 17th International Conference on Control, Automation and Systems - Proceedings",
}