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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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IMAGES

  1. Thesis Quadrotor

    thesis for quadcopter

  2. The closed loop block diagram of quadcopter system.

    thesis for quadcopter

  3. Quadcopter 101:Theory to Practical : 6 Steps

    thesis for quadcopter

  4. Thesis PDF

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  5. Proposal bauer 2022

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  6. Report of quadcopter

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VIDEO

  1. The Quad Rotor Observer (QRO), a quadricopter MAV

  2. Quadcopter

  3. Autonomous Take-off and Landing on a Moving Carrier

  4. DIY Drone: Arduino (ATMega328P) based Flight Controller : best result

  5. The QuadRotor Observer UAV / MAV demo

  6. Đồ án tốt nghiệp: Thiết kế mô hình bay không người lái và giải thuật bám theo đối tượng

COMMENTS

  1. (PDF) Design and Analysis of a Quadcopter

    Quadcopter consist of. four rotors which are fixed at the e nd of the frame structure. A pair of rotors rotates in. clockwise direction (CW) as pullers and the other pair rotates in anti-clockwise ...

  2. PDF Quadcopter Modelling and Control MATLAB/Simulink Implementation

    1.1 Quadcopter. A quadcopter also known as a quadrotor is a multi-rotor unmanned aerial vehicle (UAV). Quadcopters falls in the category of vertical take-off and landing (VTOL) UAVs. A quadcopter has four rotors in square formation at the equal distance from the centre of mass of the vehicle.

  3. (PDF) Master's thesis. Quadcopter control synthesis based on dynamic

    A quadcopter is a type of helicopter and a developing concept for unmanned aerial vehicles (UA V). A quadcopter consists of four rotors in total, with two pairs of counter-rotating, fixed-

  4. Modeling and Nonlinear Control of a Quadcopter for Stabilization and

    A thesis on quadcopter flight mechanics model and control algorithms is shown in . The focus of this thesis was to develop a nonlinear model of quadcopter flight mechanics with suitable control algorithms for stabilization and implement in MATLAB/Simulink. The quadcopter dynamics were derived from the equation of motion and forces, and a ...

  5. Mathematical Modeling of Quadcopter Dynamics

    4. 4 ̇| 4 ̇) ̂ 1. (14) Our goal is to construct a mathematical model to describe the dynamics of the quadcopter, and in the Newtonian setup of this problem, we need to utilize conservation of linear and angular momentum, i.e. Newton-Euler equations on rigid bodies, to solve the problem. = , (15) = , (16).

  6. PDF Quadcopter Flight Mechanics Model and Control Algorithms

    QUADCOPTER FLIGHT MECHANICS MODEL AND CONTROL ALGORITHMS

  7. PDF Modeling, design and control of a 6-DOF quadcopter fleet with

    Objectives and Outline. Problem statement and contributions. Modeling a single 6 DOF (Degree-of-Freedom) quadcopter. Low-level control - angular rate control (inner loop), attitude control (outer loop) High-level control -lead quadcopter trajectory generation. Platooning control - separation control system to stabilize inter-vehicular ...

  8. PDF Bachelor Thesis: Planning and Control of a Multiple-Quadcopter System

    This thesis is mostly a continuation of the research performed by Nikhil D. Potdar for his master thesis, in which he designed a control algorithm for a single UAV carrying a slung payload [6]. 1-5 Notation Throughout this thesis the following notation will be used: Symbol Definition Scalars: x Vectors: x Elements of vector: x(i) i-th element ...

  9. PDF Model Predictive Control (MPC) of Quadcopters using LPV techniques

    To do all these steps, the thesis is divided into different chapters. In Chapter 1, the history of the quadcopter and the control systems are studied. Chapter 2 begins with defining the coordinate frames used to control the quadcopter, in order to study the mathematical model and derive the quadcopter equations of motion.

  10. Autonomous Navigation of A Quadcopter in Indoor Environment

    This thesis presents a system for autonomous navigation of a quadcopter in indoor environments. A simultaneous localization and mapping (SLAM) algorithm is used to produce the map of the indoor environment and to determine the location of the quadcopter within that map. A wall following system is used for the movement of the vehicle and

  11. (PDF) Design and Fabrication of a Quadcopter Delivery Drone

    This report tests an X-Quadcopter as a low-weight, low-cost, autonomous flight capable, UAV for delivering small parcels. The quadcopter follows commands from a Ground Control Station to locate ...

  12. PDF Optimization-based Estimation and Control Algorithms for Quadcopter

    Next, the components making up a quadcopter are explained, covering actuation, sens-ing, estimation, planning and control. The last three of these topics are discussed in more detail, since they are related to the main topics covered in the thesis. Thereafter, the contributions of the thesis are summarized, followed by an overview of the structure

  13. DESIGN AND ANALYSIS OF A QUADCOPTER A Thesis LIKHITHA CHODISETTI ...

    flight time, the quadcopter is combined with an internal combustion engine and generator. Quadcopters cannot typically carry large batteries but can take cameras to shoot photos or video but, the quadcopter designed in this thesis can carry up to 5kg of payload into the air giving the ability to carry cinema quality camera.

  14. PDF Biologically Inspired Adaptive Control of Quadcopter Flight

    This thesis explores the application of a biologically inspired adaptive controller to quadcopter ight control. This begins with an introduction to modelling the dynamics of a quadcopter, followed by an overview of control theory and neural simulation in Nengo. The Virtual Robotics Experimentation Platform (V-REP) is used to simulate the ...

  15. PDF Three-dimensional Quadcopter Modeling and Simulation Using Real- Time

    THREE-DIMENSIONAL QUADCOPTER MODELING AND SIMULATION USING REAL-TIME BRAIN MACHINE INTERFACE A Thesis by Jesus Enrique Gomez Llanos Tirado Bachelor of Science in Aerospace Engineering, Wichita State University, 2017 Submitted to the Department of Aerospace Engineering

  16. PDF Design and Development of Variable Pitch Quadcopter for Long ...

    For Arm 2 and 3 shaft bearing, the axial load of the bevel gear is acting against rotor thrust, so the. overall axial load is equal to 1.3 lbf that acting on the bearing. The radial load will still be the same. as Arm 1 and Arm 4, which is 14 lbf, since the rotor shaft bearing experienced both a radial and. axial load.

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    The control vector for a Quadcopter is giv en by: U = U1U2U3U4 (2.51) where U1,U2,U3and U4are the four control inputs of a Quadcopter representing thrust, roll, pitch and ya w control respectively ...

  18. (PDF) Design and Implementation of a Quadcopter Based on a Linear

    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 ...

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  20. PDF Quadrotor Helicopter Flight Dynamics and Control: Theory and Experiment

    ed as the angular velocity of the aircraft i. the body frame.Figure 4. Free body diagram of a quadrotor helicopter. The roll, pitch and yaw angl. s (φ, θ, and ψ, respectively) are controlled by differential thrust. Diff. rential thrust between opposite motors provides roll and pitch torques. Differential thru.

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    This article deals with quadcopter modeling using a system for the measurement of unmanned aerial vehicle (UAV) parameters. ... Master's Thesis, Department of Automatic. Control, Lund University ...

  22. A Thesis On Quadcopter

    A Thesis on Quadcopter - Free download as PDF File (.pdf), Text File (.txt) or read online for free. Scribd is the world's largest social reading and publishing site.

  23. (PDF) Autopilot Design for a Quadcopter

    The work in this thesis presents a full approach of the concerning design and implementation of a control system for six degrees of freedom, four rotors unmanned aerial vehicle known as a quadcopter.

  24. Autonomous control system design for a quadcopter

    In the thesis 'Quadcopter flight Mechanics Model an d Control Algorithms' by Gopalakrishnan Eswar Murthi was discussed about designing a controller for nonlinear Quadcopter model.