Proceedings of the First Mandalika International Multi-Conference on Science and Engineering 2022, MIMSE 2022 (Mechanical and Electrical) (MIMSE-M-E-I-2022)

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State Feedback Controller Design by Utilizing Linear Quadratic Regulator and Backstepping Control for UAV Quadrotor

Authors
Purwadi Agus Darwito1, *, Linggar Handy Swandana1, Hermawan Nugroho2, Totok Ruki Biyanto1
1Department of Engineering Physics, Sepuluh Nopember Institute of Technology, Surabaya, Indonesia
2Department of Electrical and Electronic Engineering, University of Nottingham Malaysia, Selangor, Malaysia
*Corresponding author. Email: padarwito@gmail.com
Corresponding Author
Purwadi Agus Darwito
Available Online 26 December 2022.
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.

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Volume Title
Proceedings of the First Mandalika International Multi-Conference on Science and Engineering 2022, MIMSE 2022 (Mechanical and Electrical) (MIMSE-M-E-I-2022)
Series
Advances in Engineering Research
Publication Date
26 December 2022
ISBN
10.2991/978-94-6463-078-7_11
ISSN
2352-5401
DOI
10.2991/978-94-6463-078-7_11How to use a DOI?
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

risenwbib
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  -