Integral Lqr-Based 6dof Autonomous Quadrocopter Balancing System Control

This paper presents an LQR-Based 6DOF control of an unmanned aerial vehicles (UAV), namely a small-scale quadrocopter. Due to its high nonlinearity and a high degree of coupling system, the control of an UAV is very challenging. quadrocopter trajectory tracking in a 3D space is greatly affected by the quadrocopter balancing around its roll-pitch-yaw frame. Lack of precise tracking control about the body frame may result in inaccurate localization with respect to a fixed frame. Thus, the present paper provides a high dynamic control tracking balancing system response. An integral LQR-based controller is proposed to enhance the dynamic system response balancing on roll, pitch and yaw. The control on the hovering angles consists of two-cascaded loops. Namely, an inner loop for the angular speed control of each angular motion around the body frame axes, and an outer loop for the desired position control. In general, the proposed balancing control system on roll, pitch and yaw, has six control loops. The proposed control approach is implemented utilizing an embedded ATMega2560 microcontroller system. Practical results obtained from the proposed control approach exhibits fast and robust control response and high disturbance rejection. Keywords—Quadrocopter; Balancing Control; Stability of Quadrocopter; LQR; Integral LQR; Modelling of Quadrocopter