Linear Quadratic Regulator Controller (LQR) for AR. Drone's Safe Landing

摘要

Unmanned Aerial Vehicle (UAV) became one of the mobile robot technologies that are widely used by humans. It's used for commercial and development of quadcopter purpose. The reason quadcopter is widely used because of its ability to maneuver in all direction and flexibility. One of the interesting things to develop is safe landing problem of the quadcopter, due to a safe landing can reduce the risk of physical damage to the quadcopter. The purpose of this research was to implement Linear Quadratic Regulator (LQR) algorithm for the safe landing of an AR. Drone quadcopter. This method is an optimal control that produces feedback gains for a linear system by minimizing a quadratic cost function. LQR approach is used to control the attitudes and altitudes to perform landing of AR. Drone that is implemented in Robot Operating System (ROS). The results of this research have obtained a safe landing algorithm by knowing the value of settling time in landing of an AR. Drone quadcopter. Testing is done by observing settling time of landings drone at altitude which varies, i.e., 1.25 m, 2 m, and 3 m. Based on the results of the testing, the average of settling time for landing is 1.74 second for every one meter increment of altitude.