Development of an LQR-Based Control Algorithm for Quadcopter
Khan A.A. Kurokawa S. Do T.D. Ali M.H.
2024Institute of Electrical and Electronics Engineers Inc.
Proceedings of the IEEE Conference on Systems, Process and Control, ICSPC
2024Issue 2024142 - 147 pp.
The increasing use of unmanned aerial vehicles (UAVs) necessitates the development of more sophisticated control algorithms to enhance the performance of rotary-wing UAVs. This article discusses the implementation of a linear quadratic regulator (LQR) controller as a control technique for the flight controller of the Qdrone1, developed by Quanser. While LQR analysis is well-known, our approach distinguishes itself through the integration of an advanced six-camera system to establish an exceptionally accurate reference point for the drone. This innovative use of the OptiTrack system for precise position tracking feeds into the control algorithm, significantly enhancing the accuracy and stability of the UAV. The LQR controller is evaluated in real-time using the MATLAB/Simulink environment, including control loops for altitude, position, and attitude. The primary objective is to develop an optimal controller for effectively regulating the drones motion while maintaining the utmost stability and accuracy. Using its dynamic model, a MATLAB Simulink algorithm is developed to control the quadrotor. This work further demonstrates the creation and verification of a simulation model for Qdrone1. The correctness of the model is evaluated by comparing its simulated outcomes with data obtained from flight testing. The flight data and simulation results show the models reliability. The main goal of this research is to develop a precise dynamic model and LQR controller for Qdrone1, allowing for the comprehensive evaluation of this specific UAV configuration.
Flight controller , Linear quadratic regulator (LQR) controller , Model-based design , Modelling , Quadcopter
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Nazarbayev University, School of Engineering and Digital Science(SEDS), Dept. of Robotic and Mechatronics, Astana, Kazakhstan
Kyushu University, Nishi-ku, Dept. of Mechanical Engineering, Fukuoka, 819-0395, Japan
Nazarbayev University, School of Engineering and Digital Science (SEDS), Dept. of Mechanical and Aerospace Engineering, Astana, Kazakhstan
Nazarbayev University
Kyushu University
Nazarbayev University
10 лет помогаем публиковать статьи Международный издатель
Книга Публикация научной статьи Волощук 2026 Book Publication of a scientific article 2026