Development of an LQR-Based Control Algorithm for Quadcopter
Aizaz Ali Khan, Syuhei KUROKAWA, Ton Duc, Md. Hazrat Ali
Abstract
The increasing use of unmanned aerial vehicles (UAVs) necessitates the development of more sophisticated control algorithms to enhance the performance of rotary-wing UAVs. This article discusses the implementation of a linear quadratic regulator (LQR) controller as a control technique for the flight controller of the Qdrone1, developed by Quanser. While LQR analysis is well-known, our approach distinguishes itself through the integration of an advanced six-camera system to establish an exceptionally accurate reference point for the drone. This innovative use of the OptiTrack system for precise position tracking feeds into the control algorithm, significantly enhancing the accuracy and stability of the UAV. The LQR controller is evaluated in real-time using the MATLAB/Simulink environment, including control loops for altitude, position, and attitude. The primary objective is to develop an optimal controller for effectively regulating the drone’s motion while maintaining the utmost stability and accuracy. Using its dynamic model, a MATLAB Simulink algorithm is developed to control the quadrotor. This work further demonstrates the creation and verification of a simulation model for Qdrone1. The correctness of the model is evaluated by comparing its simulated outcomes with data obtained from flight testing. The flight data and simulation results show the model’s reliability. The main goal of this research is to develop a precise dynamic model and LQR controller for Qdrone1, allowing for the comprehensive evaluation of this specific UAV configuration.