Quadcopter Control Approaches and Performance Analysis

Brito, Vasco; Brito, A.; Palma, Lúıs Brito; Gil, Paulo

doi:10.5220/0006902600960103

Cited by 3 publications

(2 citation statements)

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“…Then, the quadcopter test results without obstacles are taken the mean square error value of each state variable. The determination of the value of the mean square error is used with reference to the study [17]. The combination value of the matrix Q and R which has the smallest mean square error value be used in quadcopter testing with obstacles.…”

Section: Quadcopter Test Without Obstaclesmentioning

confidence: 99%

Autonomous Quadcopter Control System Design Using LQG Controller to Perform Obstacle Avoidance

Darwito¹,

Alfathrah²,

Nugroho³

et al. 2022

Proceedings of the First Mandalika International Multi-Conference on Science and Engineering 2022, MIMSE 2022 (Mechanical and E

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This research presents the implementation of the Linear Quadratic Gaussian (LQG) Controller and LiDAR sensors on the quadcopter used to avoid obstacles. The LQG controller is a combination of a Linear Quadratic Regulator (LQR) with a Kalman Filter as a State Estimator. The results of the estimate by Kalman Filter are compared against the actual value of the measurement by reviewing the Mean Square Error value. Linear position and angular position are variables that are controlled in the LQG control system to perform obstacle avoidance. The variations used in this study are the Q and R matrix values in the LQG controller design. Some of the tests that have been carried out include the open loop test, the closed loop test, the quadcopter test without an obstacle and the quadcopter test with an obstacle. The test results show that the quadcopter is able to follow the flight reference path and that the obstacle avoidance algorithm designed produces a quadcopter that is able to avoid obstacles. The test results show that the Q and R matrices on the Gain Regulator and Kalman filters can affect the quadcopter in carrying out avoidance.

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Section: Quadcopter Test Without Obstaclesmentioning

confidence: 99%

Autonomous Quadcopter Control System Design Using LQG Controller to Perform Obstacle Avoidance

Darwito¹,

Alfathrah²,

Nugroho³

et al. 2022

Proceedings of the First Mandalika International Multi-Conference on Science and Engineering 2022, MIMSE 2022 (Mechanical and E

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show abstract

“…It was assumed that the drone uses cascaded proportional-integralderivative (PID) controllers (Fig. 5) in each of the four control channels (altitude and three Euler angles) [64,65]. Outputs from each autopilot channel were mixed to calculate the total angular speed for each propeller:…”

Section: Autopilot Modelmentioning

confidence: 99%

Validation of the energy consumption model for a quadrotor using Monte-Carlo simulation

Głębocki,

Żugaj,

Jacewicz

2022

Archive of Mechanical Engineering

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Unmanned, battery-powered quadrotors have a limited onboard energy resources. However, flight duration might be increased by reasonable energy expenditure. A reliable mathematical model of the drone is required to plan the optimum energy management during the mission. In this paper, the theoretical energy consumption model was proposed. A small, low-cost DJI MAVIC 2 Pro quadrotor was used as a test platform. Model parameters were obtained experimentally in laboratory conditions. Next, the model was implemented in MATLAB/Simulink and then validated using the data collected during real flight trials in outdoor conditions. Finally, the Monte-Carlo simulation was used to evaluate the model reliability in the presence of modeling uncertainties. It was obtained that the parameter uncertainties could affect the amount of total consumed energy by less than 8% of the nominal value. The presented model of energy consumption might be practically used to predict energy expenditure, battery state of charge, and voltage in a typical mission of a drone.

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Alti Rotorlu Ve Seki̇z Rotorlu İnsansiz Hava Araçlarinin Farkli Bozucu Etki̇ Altinda Uçuş Performanslarinin Karşilaştirilmasi

Yıldırım

Çabuk

Bakırcıoğlu

2020

Konya Journal of Engineering Sciences

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Bu çalışmada, altı rotorlu ve sekiz rotorlu iki tip insansız hava aracın (İHA) bozucu etki altında performanslarının karşılaştırılması için benzetim gerçekleştirilmiştir. Rotor sayısının farklılığının uçuş performansına etkisinin belirlenmesi esasına dayanan bu çalışmada her iki tip araç için aynı kontrolcü kullanılmıştır. Geleneksel kontrol yöntemlerinden olan Oransal-İntegral-Türevsel (PID) kontrol yöntemi kullanılan bu çalışmada kontrol parametreleri gözleme dayalı çalışmayla belirlenmiştir. Takip edilmesi beklenen bir yörünge için oluşan hatalar dikkate alınarak bu iki hava aracının performanslarının karşılaştırması gerçekleştirilmiştir. Karşılaştırma sonuçları sayısal olarak sunulmuştur. Elde edilen sonuçlara göre, sekiz rotorlu hava aracının altı rotorlu olana göre bozucu etki arttıkça daha kararlı bir uçuş sergilediği gözlemlenmiştir.

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Quadcopter Control Approaches and Performance Analysis

Cited by 3 publications

References 0 publications

Autonomous Quadcopter Control System Design Using LQG Controller to Perform Obstacle Avoidance

Autonomous Quadcopter Control System Design Using LQG Controller to Perform Obstacle Avoidance

Validation of the energy consumption model for a quadrotor using Monte-Carlo simulation

Alti Rotorlu Ve Seki̇z Rotorlu İnsansiz Hava Araçlarinin Farkli Bozucu Etki̇ Altinda Uçuş Performanslarinin Karşilaştirilmasi

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