Identification and Optimal Control of Quadrotor

Abstract

This paper presents the designing, construction, implementation of an unmanned rotorcraft, quadrotor model, in which capable of a pitch, roll, and yaw directions motion control. The controller employs the linear quadratic regulator (LQR) combined with Kalman filter. This quadrotor provides the opportunity for exploration of a variety of research related to dynamic systems. We first describe the design of the system. Design procedures are outlined along with details of the construction of the device. An identification of the system is presented for a pitch, roll, and yaw subsystem, and the corresponding results of the model are employed in the implementation of control algorithms. The electronic hardware detailed consists of a PC data acquisition system and PWM signal amplifiers, computer software supplying real time software for control and data acquisition. Results of position control is presented and analyzed. All of classical control results are compared with Optimal Control, LQR+Kalman filter solution.

Keyword: PD,PID; LQR; Kalman filter; UAV