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Design and Implementation of a Quadcopter Based on a Linear Quadratic Regulator (LQR

Profile image of Amevi Acakpovi

2020, Journal of Digital Food, Energy & Water Systems

The Unmanned Aerial Vehicle (UAV) industry is growing at an unprecedented rated with the emergence of many critical and exciting applications. This growth is also followed by a number of quality requirements including stability and accuracy of trajectory during navigation. This paper presents the design and construction of a quadcopter using robust control strategy with promising stability and accuracy. The frame of the drone was designed using CadDian Software and the parts were printed using a 3D printer. The flight controller was based on Arduino board with GSM, GPS and GPRS boards for sending data over the internet and also enhancing long range flight. A feedback control system based on Linear Quadratic Regulator (LQR) was developed and tested to control the stability of drone. The proposed control strategy of the drone was assessed for a case of trajectory tracking and also for stability of navigation. The findings were positive confirming the appropriateness of the control measures for independent and autonomous flying with promising precision. This UAV fitted with IoT has the capability of collecting and sending data over the internet and therefore can be used in many applications that required data exchange. The developed quadcopter demonstrated superiority in terms of stability and tracking accuracy over counterpart UAVs controlled with PID techniques .

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