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Linear-Quadratic-Gaussian (LQG) Control for Miniature RC Helicopters


Christian Peter

Semester Thesis, HS11 (10121)

The project covers the design of a LQG controller for a double integrator model of a miniature RC helicopter. The controller is intended to encounter dierent cases of disturbances, as for example: measurement failures, pushes and noise. The controller is being tested in simulation to verify its correctness. Finally, it is ported to the test bed where it is used on a miniature RC helicopter to validate its functionality. In both, simulation and test bed, a second (i.e. PID) controller imple- mented is being used to compare the achieved performance of the LQG


Type of Publication:

(13)Semester/Bachelor Thesis

S. M. Huck

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2012:IFA_4188
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