Indian Journal of Science and Technology

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Design and Development of Optimal Control System for Quad Copter UAV


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

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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  • Design and Development of Optimal Control System for Quad Copter UAV

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Authors

Zaid Tahir
School of Mechanical and Manufacturing Engineering (SMME), National University of Sciences and Technology (NUST), H-12 Main Campus, Islamabad, Pakistan
Mohsin Jamil
School of Mechanical and Manufacturing Engineering (SMME), National University of Sciences and Technology (NUST), H-12 Main Campus, Islamabad, Pakistan
Saad Ali Liaqat
School of Mechanical and Manufacturing Engineering (SMME), National University of Sciences and Technology (NUST), H-12 Main Campus, Islamabad, Pakistan
Lubva Mubarak
School of Mechanical and Manufacturing Engineering (SMME), National University of Sciences and Technology (NUST), H-12 Main Campus, Islamabad, Pakistan
Waleed Tahir
School of Mechanical and Manufacturing Engineering (SMME), National University of Sciences and Technology (NUST), H-12 Main Campus, Islamabad, Pakistan
Syed Omer Gilani
School of Mechanical and Manufacturing Engineering (SMME), National University of Sciences and Technology (NUST), H-12 Main Campus, Islamabad, Pakistan

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.



DOI: https://doi.org/10.17485/ijst%2F2016%2Fv9i25%2F134920