| Flight Control System Design and Obstacles Avoidance for Quadcopter |
| Paper ID : 1115-IUGRC6 |
| Authors |
|
Esmaeel Mohamed Esmaeel * Aircraft Electrical Equipment, Military Technical College,Cairo, Egypt |
| Abstract |
| Abstract Recently, unmanned aerial vehicle (e.g. quadcopter) has been used in many applications, e.g., search-and-rescue missions, because of its capabilities, e.g. vertical takeoff and landing,aerial Photography , Videography,Mapping, Surveying. To achieve these missions, we need to design a suitable control system to stabilize and control quadcopter to track a desired flight trajectory.this is done according to its configuration,it has two configurations (plus,cross). In this paper, we proposed a comparative simulation between a classical Proportional Integral Derivative (PID) controller and optimal Linear Quadratic Regulator (LQR) controller implemented on a quadcopter model for plus configuration. Moreover, this paper discusses obstacles avoidance using path planning by Particle Swarm Optimization. Implementation of these linear controllers requires linearization the nonlinear quadcopter model around a steady state flight condition by small disturbance theory. The simulation results shows that the optimal controller Linear Quadratic Regulator (LQR)has an efficient performance compared to classical controller Proportional Integral Derivative (PID). |
| Keywords |
| LQR, PID, quadcopter, optimal, classical |
| Status: Accepted |