Design and Development of Optimal Control System for Quad Copter UAV

Zaid Tahir; Mohsin Jamil; Saad Ali Liaqat; Lubva Mubarak; Waleed Tahir and Syed Omer Gilani

doi:10.17485/ijst/2016/v9i25/96611

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Design and Development of Optimal Control System for Quad Copter UAV

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Indian Journal of Science and Technology

DOI: 10.17485/ijst/2016/v9i25/96611

Year: 2016, Volume: 9, Issue: 25, Pages: 1-11

Original Article

Design and Development of Optimal Control System for Quad Copter UAV

Zaid Tahir^*, Mohsin Jamil, Saad Ali Liaqat, Lubva Mubarak, Waleed Tahir and Syed Omer Gilani

School of Mechanical and Manufacturing Engineering (SMME), [email protected]
[email protected]
[email protected]
[email protected]
[email protected]
[email protected]
*Author for correspondence
Zaid Tahir
School of Mechanical and Manufacturing Engineering (SMME),
Email: [email protected]

This work is licensed under a Creative Commons Attribution 4.0 International License.

Abstract

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