State Feedback Controller Design by Utilizing Linear Quadratic Regulator and Backstepping Control for UAV Quadrotor
- DOI
- 10.2991/978-94-6463-078-7_11How to use a DOI?
- Keywords
- Backstepping Control; LiDAR; Linear-Quadratic Regulator; Obstacle Avoidance; Quadcopter
- Abstract
One of the popular UAV applications in the logistics sector is the use of UAVs as couriers to deliver goods to customers’ homes. In this application, the UAV must be able to follow the given trajectory while avoiding the existing obstacles to get to the customer’s house. To fulfill this, UAVs require an autonomous trajectory tracking and obstacle avoidance system. One of the control systems commonly used in UAVs is to use a linear-quadratic regulator (LQR) and backstepping control (BSC) and utilize LiDAR as an obstacle detector. With the help of MATLAB, simulations of open loop, close loop, trajectory tracking and obstacle avoidance were carried out. The close loop test shows a steady state error of 0.000024 m and 0 m for orientation control and position control. The performance of the LQR-BSC control system in the trajectory tracking simulation shows the MAE performance values of 0.1429, 0.0015 and 0.1267 for position control. While the simulation of obstacle avoidance using the LQR-BSC control system and the LiDAR sensor as detection shows that the quadcopter can avoid the obstacles given.
- Copyright
- © 2023 The Author(s)
- Open Access
- Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.
Cite this article
TY - CONF AU - Purwadi Agus Darwito AU - Linggar Handy Swandana AU - Hermawan Nugroho AU - Totok Ruki Biyanto PY - 2022 DA - 2022/12/26 TI - State Feedback Controller Design by Utilizing Linear Quadratic Regulator and Backstepping Control for UAV Quadrotor BT - Proceedings of the First Mandalika International Multi-Conference on Science and Engineering 2022, MIMSE 2022 (Mechanical and Electrical) (MIMSE-M-E-I-2022) PB - Atlantis Press SP - 89 EP - 101 SN - 2352-5401 UR - https://doi.org/10.2991/978-94-6463-078-7_11 DO - 10.2991/978-94-6463-078-7_11 ID - Darwito2022 ER -