Model of Linear Quadratic Regulator (LQR) Control System in Waypoint Flight Mission of Flying Wing UAV
Keywords:
Optimal Control, Stability, UAV, Waypoint,Abstract
The ability of the aircraft to trace the waypoint trajectory is a major requirement for the completion of various missions. However, the magnitude of steady state error and multiple overshoot caused by environmental disturbances can cause instable motion of the aircraft. Such conditions can make the aircraft experience a shift and change its direction from a predetermined path. Therefore, in this study Linear Quadratic Regulator (LQR) control method is applied to minimize steady state error and multiple overshoot. The LQR control method has the ability to maintain the stability of the aircraft and produce minimum errors. Besides, the LQR control method can also be modified by providing input references so that it can be used for tracking trajectories. System testing is done directly on tracing the triangular trajectory pattern to find out directly the functioning of the system. The results derived from the testing of the model design indicated a steady state tendency of 3.55% error, with the largest deviation of 10.55% and 83% accuracy for tracking from the first waypoint to the second waypoint. It was also reported a steady state tendency of 2.88% error, the largest deviation of 7.28% with 93% accuracy for tracing from the second waypoint to the third waypoint.References
K. Nonami, Autonomous Flying Robots. Japan: Springer Japan, 2010, pp. 2-7.
T.K. Priyambodo, A.E. Putro, A. Dharmawan, “Optimizing control based on ant colony for quadrotor stabilization”, Jurnal of IEEE International Conference of ICARES, 2015.
A. Majid, R. Sumiharto and S.B. Wibisono, “Identifikasi model dari pesawat udara tanpa awak sayap tetap jenis bixler”, IJEIS, Volume 5, ISSN: 2088-3714, 2015, pp.43–54.
P.S. Ardiantara, R. Sumiharto and S.B. Wibowo, “Purwarupa control kestabilan posisi dan sikap pada pesawat tanpa awak menggunakan IMU dan algoritma fusion sensor kalman filter”, IJEIS, 4(1), 2014, pp.25–34.
J. Osborne and R. Rysdyk,“Waypoint guidance for small UAVs in wind”, AIAA Virginia, No. 6951, 2005.
R. Shaffer, M. Karpenko and Q. Gong, "Unscented guidance for waypoint navigation of a fixed-wing UAV," 2016 American Control Conference (ACC), Boston, MA, 2016, pp. 473-478, doi: 10.1109/ACC.2016.7524959.
S. Markin, “Multiple simultaneous specification attitude control of a mini flying-wing unmanned aerial vehicle”, Graduate Department of Mechanical and Industrial Engineering, University of Toronto, 2010.
G. A. Venkatesh, P. Sumanth and K. R. Jansi, "Fully Autonomous UAV," 2017 International Conference on Technical Advancements in Computers and Communications (ICTACC), Melmaurvathur, 2017, pp. 41-44, doi: 10.1109/ICTACC.2017.20.
L.V. Santana, A.S. Brandao and M. Sarcinelli-Filho, “Outdoor waypoint navigation with the AR.Drone quadrotor”, International Conference on Unmanned Aircraft Systems (ICUAS) IEEE, Juni, 2015, pp.303–311.
S. Kukreti, M. Kumar and K. Cohen, “Detection and localization using unmanned aerial systems for firefighting applications”, Conference AIAA Aerospace, At San Diego, CA, Vol. AIAA SCITECH, 2016.
M. Fajar and O. Arifianto, “Perancangan autopilot lateral-direksional pesawat nirawak LSU-05”, Jurnal Teknologi Dirgantara, Vol.15, 2005.
D. Stojcsics, “Autonomous Waypoint-based Guidance Methods for Small Size Unmanned Aerial Vehicles” Acta Polytechnica Hungarica, Vol.11, No. 10, 2014, pp. 215-233.
T. K. Priyambodo, A. Dharmawan, O. A. Dhewa dan N. A. S. Putro, “Optimizing control based on fine tune PID using ant colony logic for moving control of UAV systems”, American Institute of Physics Conference Proceedings 1755, 170011, 2016.
N.A. Ismail, N.L. Othman, Z.M. Zain, D. Pebrianti and L. Bayuaji, “Attitude control of quadrotor”, ARPN Journal of Engineering and Applied Sciences, Vol.10, No.22, 2015, pp.1726–1731.
O. A. Dhewa, A. Dharmawan and T. K. Priyambodo, “Model of linear quadratic regulator (LQR) control method in hovering state of quadrotor”, Journal of Telecommunication, Electronic and Computer Engineering, Vol. 9, No. 3, 2017, pp. 135-143.
L.M. Argentim, W.C. Rezende, P.E. Santos and R.A. Aguiar, “PID, LQR and LQR-PID on a quadrotor platform”, International Conference on Informatics, Electronics and Vision (ICIEV) IEEE, 2013.
E.C. Suicmez and A.T. Kutay, “Optimal path tracking control of a quadrotor UAV,”, International Conference on Unmanned Aircraft Systems (ICUAS) IEEE, 2014, pp.27–30.
R. C. Hibbeler, Dynamics. Hoboken, New Jersey: Pearson Prentice Hall, 2016.
J.G. Li, X. Chen, Y. Li and R. Zhang, “Control system design of flyingwing UAV based on nonlinear methodology” Defence Technology, 2017, 13. 10.1016/j.dt.2017.06.003.
C. Z. Myint, H. M. Tun and Z. M. Naing, “Development of Linear Quadratic Regulator Design for small UAV System”, International Journal of Scientific & Technology Research, Vol. 5, Issue 07, 2016.
Whidborne, J.F, Modelling and Linear Control of a Quadcopter, Cranfield University, 2007.
G. Nugroho and A. Dharmawan, "Undesirable rolling minimization on the EDF missiles flight based on LQR methods," 2017 International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation (ICAMIMIA), Surabaya, 2017, pp. 85-90, doi: 10.1109/ICAMIMIA.2017.8387563.
A. Dharmawan, A. Ashari, and A. E. Putra, “Quadrotor flight stability system with Routh stability and Lyapunov analysis,” in AIP Conference Proceedings, 2016, vol. 1755, p. 170007.
A. Dharmawan, A. Ashari, and A. E. Putra, “Translation Movement Stability Control of Quad Tiltrotor Using LQR and LQG,” Int. J. Intell. Syst. Appl., vol. 10, no. 3, 2018, pp. 10–21.
A. Dharmawan, A. E. Putra, I. M. Tresnayana and W. A. Wicaksono, "The Obstacle Avoidance System In A Fixed-Wing UAV When Flying Low Using LQR Method," 2019 International Conference on Computer Engineering, Network, and Intelligent Multimedia (CENIM), Surabaya, Indonesia, 2019, pp. 1-7, doi: 10.1109/CENIM48368.2019.8973292.
S. Ayyildiz and H. Yazici, “Pitch Control by LQR for Fixed Wing Aircraft during Microburst Encounter”, 5th International Conference on Advances in Mechanical Engineering Istanbul, 2019.
J. Gross, Y. Gu, Yu and M. Rhudy, “Fixed-Wing UAV Attitude Estimation Using Single Antenna GPS Signal Strength Measurements”. Aerospace, 2016.
Downloads
Published
How to Cite
Issue
Section
License
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.
