TY - GEN
T1 - Control Design of Quadcopter using Linear Quadratic Gaussian (LQG)
AU - Mardlijah,
AU - Alifah, Zahra Nur
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - A quadcopter is an unmanned control aircraft with four rotors and is mounted in a square formation. Quadcopter moves with six degrees of freedom that are divided into two types of movements, there are rotational motion and translational motion. The Linear Quadratic Gaussian control method is used in this research, which combines the Linear Quadratic Regulator with Kalman Filter. LQG control was chosen because it can estimate state variables that are not measured, and it can save costs and time. The variables controlled and analyzed in this study are changes in the angle of rotational motion including roll, pitch, and yaw with a fixed linear position. The quadcopter mathematical model has been linearized and shows stability, controllability, and observability. Simulation results show that the system produces an overshoot less than 0.1 rad with a time stable less than 1 second.
AB - A quadcopter is an unmanned control aircraft with four rotors and is mounted in a square formation. Quadcopter moves with six degrees of freedom that are divided into two types of movements, there are rotational motion and translational motion. The Linear Quadratic Gaussian control method is used in this research, which combines the Linear Quadratic Regulator with Kalman Filter. LQG control was chosen because it can estimate state variables that are not measured, and it can save costs and time. The variables controlled and analyzed in this study are changes in the angle of rotational motion including roll, pitch, and yaw with a fixed linear position. The quadcopter mathematical model has been linearized and shows stability, controllability, and observability. Simulation results show that the system produces an overshoot less than 0.1 rad with a time stable less than 1 second.
KW - Kalman Filter
KW - Linear Quadratic Gaussian
KW - Quadcopter
KW - Rotational Motion
UR - http://www.scopus.com/inward/record.url?scp=85149117129&partnerID=8YFLogxK
U2 - 10.1109/CENIM56801.2022.10037533
DO - 10.1109/CENIM56801.2022.10037533
M3 - Conference contribution
AN - SCOPUS:85149117129
T3 - Proceeding of the International Conference on Computer Engineering, Network and Intelligent Multimedia, CENIM 2022
SP - 192
EP - 196
BT - Proceeding of the International Conference on Computer Engineering, Network and Intelligent Multimedia, CENIM 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 International Conference on Computer Engineering, Network and Intelligent Multimedia, CENIM 2022
Y2 - 22 November 2022 through 23 November 2022
ER -