An effective proportional-double derivative-linear quadratic regulator controller for quadcopter attitude and altitude control

A quadcopter control system is a fundamentally difficult and challenging problem because its dynamics modelling is highly nonlinear, especially after accounting for the complicated aerodynamic effects. Plus, its variables are highly interdependent and coupled in nature. There are six controllers stu...

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Autores principales:	Mohamad Norherman Shauqee, Parvathy Rajendran, Nurulasikin Mohd Suhadis
Formato:	article
Lenguaje:	EN
Publicado:	Taylor & Francis Group 2021
Materias:	quadcopter uav controller proportional-double derivative-linear quadratic regulator (pd2-lqr) controller linear quadratic regulator (lqr) controller attitude motion altitude motion Control engineering systems. Automatic machinery (General) TJ212-225 Automation T59.5
Acceso en línea:	https://doaj.org/article/84ea1ef48c4e449e85453a42739608d3
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spelling	oai:doaj.org-article:84ea1ef48c4e449e85453a42739608d32021-11-04T15:00:41ZAn effective proportional-double derivative-linear quadratic regulator controller for quadcopter attitude and altitude control0005-11441848-338010.1080/00051144.2021.1981527https://doaj.org/article/84ea1ef48c4e449e85453a42739608d32021-10-01T00:00:00Zhttp://dx.doi.org/10.1080/00051144.2021.1981527https://doaj.org/toc/0005-1144https://doaj.org/toc/1848-3380A quadcopter control system is a fundamentally difficult and challenging problem because its dynamics modelling is highly nonlinear, especially after accounting for the complicated aerodynamic effects. Plus, its variables are highly interdependent and coupled in nature. There are six controllers studied and analysed in this work which are (1) Proportional–Integral–Derivative (PID), (2) Proportional-Derivative (PD), (3) Linear Quadratic Regulator (LQR), (4) Proportional-Linear Quadratic Regulator (P-LQR), (5) Proportional-Derivative-Linear Quadratic Regulator (PD-LQR) and lastly (6) the proposed controller named Proportional-Double Derivative-Linear Quadratic Regulator (PD2-LQR) controller. The altitude control and attitude stabilization of the quadcopter have been investigated using MATLAB/Simulink software. The mathematical model of the quadcopter using the Newton–Euler approach is applied to these controllers has illuminated the attitude (i.e. pitch, yaw, and roll) and altitude motions of the quadcopter. The simulation results of the proposed PD2-LQR controller have been compared with the PD, PID, LQR, P-LQR, and PD-LQR controllers. The findings elucidated that the proposed PD2-LQR controller significantly improves the performance of the control system in almost all responses. Hence, the proposed PD2-LQR controller can be applied as an alternative controller of all four motions in quadcopters.Mohamad Norherman ShauqeeParvathy RajendranNurulasikin Mohd SuhadisTaylor & Francis Grouparticlequadcopteruav controllerproportional-double derivative-linear quadratic regulator (pd2-lqr) controllerlinear quadratic regulator (lqr) controllerattitude motionaltitude motionControl engineering systems. Automatic machinery (General)TJ212-225AutomationT59.5ENAutomatika, Vol 62, Iss 3-4, Pp 415-433 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	quadcopter uav controller proportional-double derivative-linear quadratic regulator (pd2-lqr) controller linear quadratic regulator (lqr) controller attitude motion altitude motion Control engineering systems. Automatic machinery (General) TJ212-225 Automation T59.5
spellingShingle	quadcopter uav controller proportional-double derivative-linear quadratic regulator (pd2-lqr) controller linear quadratic regulator (lqr) controller attitude motion altitude motion Control engineering systems. Automatic machinery (General) TJ212-225 Automation T59.5 Mohamad Norherman Shauqee Parvathy Rajendran Nurulasikin Mohd Suhadis An effective proportional-double derivative-linear quadratic regulator controller for quadcopter attitude and altitude control
description	A quadcopter control system is a fundamentally difficult and challenging problem because its dynamics modelling is highly nonlinear, especially after accounting for the complicated aerodynamic effects. Plus, its variables are highly interdependent and coupled in nature. There are six controllers studied and analysed in this work which are (1) Proportional–Integral–Derivative (PID), (2) Proportional-Derivative (PD), (3) Linear Quadratic Regulator (LQR), (4) Proportional-Linear Quadratic Regulator (P-LQR), (5) Proportional-Derivative-Linear Quadratic Regulator (PD-LQR) and lastly (6) the proposed controller named Proportional-Double Derivative-Linear Quadratic Regulator (PD2-LQR) controller. The altitude control and attitude stabilization of the quadcopter have been investigated using MATLAB/Simulink software. The mathematical model of the quadcopter using the Newton–Euler approach is applied to these controllers has illuminated the attitude (i.e. pitch, yaw, and roll) and altitude motions of the quadcopter. The simulation results of the proposed PD2-LQR controller have been compared with the PD, PID, LQR, P-LQR, and PD-LQR controllers. The findings elucidated that the proposed PD2-LQR controller significantly improves the performance of the control system in almost all responses. Hence, the proposed PD2-LQR controller can be applied as an alternative controller of all four motions in quadcopters.
format	article
author	Mohamad Norherman Shauqee Parvathy Rajendran Nurulasikin Mohd Suhadis
author_facet	Mohamad Norherman Shauqee Parvathy Rajendran Nurulasikin Mohd Suhadis
author_sort	Mohamad Norherman Shauqee
title	An effective proportional-double derivative-linear quadratic regulator controller for quadcopter attitude and altitude control
title_short	An effective proportional-double derivative-linear quadratic regulator controller for quadcopter attitude and altitude control
title_full	An effective proportional-double derivative-linear quadratic regulator controller for quadcopter attitude and altitude control
title_fullStr	An effective proportional-double derivative-linear quadratic regulator controller for quadcopter attitude and altitude control
title_full_unstemmed	An effective proportional-double derivative-linear quadratic regulator controller for quadcopter attitude and altitude control
title_sort	effective proportional-double derivative-linear quadratic regulator controller for quadcopter attitude and altitude control
publisher	Taylor & Francis Group
publishDate	2021
url	https://doaj.org/article/84ea1ef48c4e449e85453a42739608d3
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An effective proportional-double derivative-linear quadratic regulator controller for quadcopter attitude and altitude control

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