@inproceedings{36ef3db1482e4df4aaad590fb4d7ecc7,
title = "LQGT Control Design Based on Firefly Algorithm optimization for Trajectory Tracking on Quadcopter",
abstract = "The quadcopter is very dynamic system, that to carry out a certain mission, it is necessary to apply control to it. In this paper, Linear Quadratic Gaussian Tracking control is designed to control rotational and lateral motions of quadcopter so that it can follow the predetermined trajectory. Determination of weighting matrices Q and R on LQGT control is formulated as an optimization problem and then will be solved using the firefly algorithm. The simulation results show that the use of the firefly algorithm in determining optimal weighting matrices Q and R are proven to be effective. The application of LQGT control on the system is able to make it follow the square and triangle trajectory with minimum average track error. There is a time lagging on both trajectories for x-position and y-position with an average of 0.59 seconds.",
keywords = "LQGT, firefly algorithm, optimal control, optimization, quadcopter",
author = "Sovia Prabaningtyas and Mardlijah",
note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 23rd International Seminar on Intelligent Technology and Its Applications, ISITIA 2022 ; Conference date: 20-07-2022 Through 21-07-2022",
year = "2022",
doi = "10.1109/ISITIA56226.2022.9855290",
language = "English",
series = "2022 International Seminar on Intelligent Technology and Its Applications: Advanced Innovations of Electrical Systems for Humanity, ISITIA 2022 - Proceeding",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "261--266",
booktitle = "2022 International Seminar on Intelligent Technology and Its Applications",
address = "United States",
}