Model of Linear Quadratic Regulator (LQR) Control Method in Hovering State of Quadrotor
Keywords:Optimal Control, Orientation Angles, Hovering,
AbstractQuadrotor is an unmanned aircraft which has vertical take-off and landing (VTOL) capability. However quadrotor requieres a good control system to itself during flight. So, the aim of this research is to design and implement a control system on quadrotor using LQR method to obtain the best feedback gain K value in hover state. LQR is a method that calculates the optimal feedback gain K. The feedback gain K can determined by tuning of Q and R. The feedback gain is used to control the system in control signal form. The control signal values are converted into PWM to control brushless motor speed to maintain quadrotor's position. The test results show, Q and R values of the same roll and pitch were Q = 0.08 and R = 1, where the average angle of roll of 0.25 degrees and the average angle of pitch of 0.15 degrees. While the value of Q and R yaw angles were Q = 0.01 and R = 1, the yaw angle maintains in the range of an angle of 0 degrees to 2 degrees. As for the rise time, roll angle was able to handle distractions for 0.09 seconds, 0.15 seconds during the pitch angle and 0.12 seconds during the yaw angle.
How to Cite
TRANSFER OF COPYRIGHT AGREEMENT
The manuscript is herewith submitted for publication in the Journal of Telecommunication, Electronic and Computer Engineering (JTEC). It has not been published before, and it is not under consideration for publication in any other journals. It contains no material that is scandalous, obscene, libelous or otherwise contrary to law. When the manuscript is accepted for publication, I, as the author, hereby agree to transfer to JTEC, all rights including those pertaining to electronic forms and transmissions, under existing copyright laws, except for the following, which the author(s) specifically retain(s):
- All proprietary right other than copyright, such as patent rights
- The right to make further copies of all or part of the published article for my use in classroom teaching
- The right to reuse all or part of this manuscript in a compilation of my own works or in a textbook of which I am the author; and
- The right to make copies of the published work for internal distribution within the institution that employs me
I agree that copies made under these circumstances will continue to carry the copyright notice that appears in the original published work. I agree to inform my co-authors, if any, of the above terms. I certify that I have obtained written permission for the use of text, tables, and/or illustrations from any copyrighted source(s), and I agree to supply such written permission(s) to JTEC upon request.