Proportional-derivative linear quadratic regulator controller design for improved directional and lateral motion control of unmanned aerial vehicles
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Date
2019-06
Authors
Yap Kai Wen
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Abstract
This study investigates the directional and lateral motion control of unmanned
aerial vehicles by controlling the sideslip angle through a simulation in
MATLAB/Simulink. The linear model of a mini unmanned aerial vehicle, Ultra Stick
25e is applied to controllers to explicate the lateral-directional motion of the unmanned
aerial vehicle. Directional and lateral motion control of an unmanned aerial vehicle is
very crucial especially when the unmanned aerial vehicle performs any maneuver. These
maneuvers usually performed when the unmanned aerial vehicle is avoiding any flying
obstacles or in tasks that require complex maneuvers. It is crucial for an unmanned aerial
vehicle to have the ideal performance to achieve the desired response instantly with 100%
precision especially when the unmanned aerial vehicle is avoiding flying obstacles.
However, currently available controllers show a delay in the response time which need
further improvements. Therefore, a proportional-derivative linear quadratic regulator
controller is developed and compared with a proportional-integral-derivative controller,
a linear quadratic regulator controller, and a proportional linear quadratic regulator
controller. The flight condition of the mini unmanned aerial vehicle model was set at
forward velocity, u=17m/s, pitch angle, θ= 0.0217rad, elevator deflection angle, η =
0.091rad, throttle angle, τ = 0.559rad, aileron and rudder deflections of ξ= 0rad, ζ= 0rad
respectively, and altitude of 120m. The proportional-integral-derivative controller, linear quadratic regulator controller, proportional linear quadratic regulator controller, and
proportional-derivative linear quadratic regulator controller are simulated in
MATLAB/Simulink and compared with the results in terms of rise time, settling time,
overshoot, steady-state error and root mean square error. The tuning of each controller
makes sure every controller performs at its optimized state which gives the best
performance for each controller. The proportional-derivative linear quadratic regulator
controller enhances the response of the system by reducing the settling time by more than
74% compared with other controllers. The rise time and steady-state error are improved
by more than 50% whereas the root mean square error is improved by more than 6% and
having the overshoot at a reasonable value.