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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Autonomous Quadcopter Control System Design Using LQG Controller to Perform Obstacle Avoidance

Authors
Purwadi Agus Darwito1, *, Bima Dardaa Alfathrah1, 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, 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_27How to use a DOI?
Keywords
Quadcopter; Autonomous; LQG; Obstacle Avoidance
Abstract

This research presents the implementation of the Linear Quadratic Gaussian (LQG) Controller and LiDAR sensors on the quadcopter used to avoid obstacles. The LQG controller is a combination of a Linear Quadratic Regulator (LQR) with a Kalman Filter as a State Estimator. The results of the estimate by Kalman Filter are compared against the actual value of the measurement by reviewing the Mean Square Error value. Linear position and angular position are variables that are controlled in the LQG control system to perform obstacle avoidance. The variations used in this study are the Q and R matrix values in the LQG controller design. Some of the tests that have been carried out include the open loop test, the closed loop test, the quadcopter test without an obstacle and the quadcopter test with an obstacle. The test results show that the quadcopter is able to follow the flight reference path and that the obstacle avoidance algorithm designed produces a quadcopter that is able to avoid obstacles. The test results show that the Q and R matrices on the Gain Regulator and Kalman filters can affect the quadcopter in carrying out avoidance.

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
978-94-6463-078-7
ISSN
2352-5401
DOI
10.2991/978-94-6463-078-7_27How 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  - Bima Dardaa Alfathrah
AU  - Hermawan Nugroho
AU  - Totok Ruki Biyanto
PY  - 2022
DA  - 2022/12/26
TI  - Autonomous Quadcopter Control System Design Using LQG Controller to Perform Obstacle Avoidance
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  - 284
EP  - 298
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-078-7_27
DO  - 10.2991/978-94-6463-078-7_27
ID  - Darwito2022
ER  -