Indian Journal of Science and Technology
Year: 2016, Volume: 9, Issue: 25, Pages: 1-11
Zaid Tahir*, Mohsin Jamil, Saad Ali Liaqat, Lubva Mubarak, Waleed Tahir and Syed Omer Gilani
School of Mechanical and Manufacturing Engineering (SMME), [email protected]
*Author for correspondence
School of Mechanical and Manufacturing Engineering (SMME),
Email: [email protected]
Background/Objectives: Design and development of an optimal control system for a quadcopter unmanned aerial vehicle (UAV). Methods/Statistical Analysis: The 6DOF quad copter state-space models was used for Linear Quadratic Regulator (LQR) and Linear Quadratic Gaussian (LQG) simulations in MATLAB/Simulink. The simulations produced satisfactory results, which have been presented. Findings: A comparison between Low Pass Filter (LPF) and Kalman filter is also shown which shows that LQR is useless in presence of noise hence LQG was employed in such a situation. Application/Improvements: The optimal control system for quadcopter was successfully developed, which can be practically implemented on an actual quadcopter for stable unmanned flight of the aerial vehicle.
Keywords: Control, DOF, GPS, LQR, LQG, LPF, Quad-Copter, UAV
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