Informatics Publishing Limited

Zaid Tahir ¹, Mohsin Jamil ¹, Saad Ali Liaqat ¹, Lubva Mubarak ¹, Waleed Tahir ¹, Syed Omer Gilani ¹

Affiliations
1 School of Mechanical and Manufacturing Engineering (SMME), National University of Sciences and Technology (NUST), H-12 Main Campus, Islamabad, PK

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.

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Zaid Tahir ¹, Mohsin Jamil ¹, Saad Ali Liaqat ¹, Lubva Mubarak ¹, Waleed Tahir ¹, Syed Omer Gilani ¹

Affiliations
1 School of Mechanical and Manufacturing Engineering (SMME), National University of Sciences and Technology (NUST), H-12 Main Campus, Islamabad, PK

Abstract

Background/Objectives: To derive a linear mathematical modeling of a quad-copter Unmanned Aerial Vehicle (UAV). Methods/Statistical Analysis: The quad-copter physical system with different inputs and outputs has been represented in a state-space form. State space representation is a mathematical model of a physical system as a set of input, output and state variables related by first-order differential equations. "State space" is the space which has state variables as its axes. Vectors are used within state space to show the state of the system. Findings: The six Degrees Of Freedom (6DOF) quad copter state-space model is developed starting from basic Newtonian equations, which is very important to control the quad copter system. The system of quadcopter aerial vehicle is inherently dynamically unstable, which means that this study has found out the state-space modeling. Therefore, this study has enabled the successful modelling of the quadcopter system, which directly contributes to the stable flight of the unmanned aerial vehicle. Application/Improvements: Unmanned aerial reconnaissance, autonomous aerial flight.

Keywords

Quad-copter Unmanned Aerial Vehicle, State Space Modeling, Unmanned Aerial Vehicle.

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