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Proportional-Derivative Linear Quadratic Regulator Controller Design For Improved Directional And Lateral Motion Control Of Unmanned Aerial Vehicles

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...

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Main Author: Yap, Kai Wen
Format: Monograph
Language:English
Published: Universiti Sains Malaysia 2019
Subjects:
T Technology
Online Access:http://eprints.usm.my/58687/1/Proportional-Derivative%20Linear%20Quadratic%20Regulator%20Controller%20Design%20For%20Improved%20Directional%20And%20Lateral%20Motion%20Control%20Of%20Unmanned%20Aerial%20Vehicles.pdf
http://eprints.usm.my/58687/
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spelling my.usm.eprints.58687 http://eprints.usm.my/58687/ Proportional-Derivative Linear Quadratic Regulator Controller Design For Improved Directional And Lateral Motion Control Of Unmanned Aerial Vehicles Yap, Kai Wen T Technology 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. Universiti Sains Malaysia 2019-06-01 Monograph NonPeerReviewed application/pdf en http://eprints.usm.my/58687/1/Proportional-Derivative%20Linear%20Quadratic%20Regulator%20Controller%20Design%20For%20Improved%20Directional%20And%20Lateral%20Motion%20Control%20Of%20Unmanned%20Aerial%20Vehicles.pdf Yap, Kai Wen (2019) Proportional-Derivative Linear Quadratic Regulator Controller Design For Improved Directional And Lateral Motion Control Of Unmanned Aerial Vehicles. Technical Report. Universiti Sains Malaysia, Pusat Pengajian Kejuruteraan Aeroangkasa. (Submitted)
institution Universiti Sains Malaysia
building Hamzah Sendut Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Sains Malaysia
content_source USM Institutional Repository
url_provider http://eprints.usm.my/
language English
topic T Technology
spellingShingle T Technology
Yap, Kai Wen
Proportional-Derivative Linear Quadratic Regulator Controller Design For Improved Directional And Lateral Motion Control Of Unmanned Aerial Vehicles
description 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.
format Monograph
author Yap, Kai Wen
author_facet Yap, Kai Wen
author_sort Yap, Kai Wen
title Proportional-Derivative Linear Quadratic Regulator Controller Design For Improved Directional And Lateral Motion Control Of Unmanned Aerial Vehicles
title_short Proportional-Derivative Linear Quadratic Regulator Controller Design For Improved Directional And Lateral Motion Control Of Unmanned Aerial Vehicles
title_full Proportional-Derivative Linear Quadratic Regulator Controller Design For Improved Directional And Lateral Motion Control Of Unmanned Aerial Vehicles
title_fullStr Proportional-Derivative Linear Quadratic Regulator Controller Design For Improved Directional And Lateral Motion Control Of Unmanned Aerial Vehicles
title_full_unstemmed Proportional-Derivative Linear Quadratic Regulator Controller Design For Improved Directional And Lateral Motion Control Of Unmanned Aerial Vehicles
title_sort proportional-derivative linear quadratic regulator controller design for improved directional and lateral motion control of unmanned aerial vehicles
publisher Universiti Sains Malaysia
publishDate 2019
url http://eprints.usm.my/58687/1/Proportional-Derivative%20Linear%20Quadratic%20Regulator%20Controller%20Design%20For%20Improved%20Directional%20And%20Lateral%20Motion%20Control%20Of%20Unmanned%20Aerial%20Vehicles.pdf
http://eprints.usm.my/58687/
_version_ 1768007917562232832
score 13.211869

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