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Title : Model of Linear Quadratic Regulator (LQR) Control System in Waypoint Flight Mission of Flying Wing UAV
Author :

Dr. Tri Kuntoro Priyambodo, M.Sc. (1) Oktaf Agni Dhewa (2) TRY SUSANTO (3)
Date : 23 2020
Keyword : Optimal Control,UAV,Way point,Stability Optimal Control,UAV,Way point,Stability
Abstract : The ability of the aircraft to trace the waypoint trajectory is a major requirement for the completion of various missions. However, the magnitude of the steady-state error and multiple overshoots caused by environmental disturbances can cause unstable motion of the aircraft. Such conditions can make the aircraft experience a shift and change its direction from a predetermined path. Therefore, in this study Linear Quadratic Regulator (LQR) control method is applied to minimize steady-state error and multiple overshoots. The LQR control method has the ability to maintain the stability of the aircraft and produce minimum errors. Besides, the LQR control method can also be modified by providing input references so that it can be used for tracking trajectories. System testing is done directly on tracing the triangular trajectory pattern to find out directly the functioning of the system. The results derived from the testing of the model design indicated a steady-state tendency of 3.55% error, with the largest deviation of 10.55% and 83?curacy for tracking from the first waypoint to the second waypoint. It was also reported a steady-state tendency of 2.88% error, the largest deviation of 7.28% with 93?curacy for tracing from the second waypoint to the third waypoint.
Group of Knowledge : Ilmu Komputer
Original Language : English
Level : Internasional
Status :
Published
Document
No Title Document Type Action
1 210128-3Q-Artikel Journal-JTEC-4011.pdf
Document Type : [PAK] Full Dokumen
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2 Similaritas-Model of Linear Quadratic Regulator (LQR) Control System in Waypoint Flight Mission of Flying Wing UAV.pdf
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3 Model of Linear Quadratic Regulator (LQR) Control System in Waypoint Flight Mission of Flying Wing UAV.pdf
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4 Model of Linear Quadratic Regulator (LQR) Control System.pdf
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