Oktaf Agni Dhewa, Tri Kuntoro Priyambodo, Aris Nasuha, Yasir Mohd Mustafah
The ability of the quadrotor in the waypoint trajectory tracking becomes an essential requirement in the completion of various missions nowadays. However, the magnitude of steady-state errors and multiple overshoots due to environmental disturbances leads to motion instability. These conditions make the quadrotor experience a shift and even change direction from the reference path. As a result, to minimize steady-state error and multiple overshoots, this study employs a Linear Quadratic Regulator control method with the addition of an Integrator. Comparisons between LQR without Integrator and LQR with Integrator were performed. They were implemented on a quadrotor controller to track square and zig-zag waypoint patterns. From experimental results, LQR without Integrator produce of 2 meters steady-state error and -1.04 meters undershoot average with an accuracy of 64.84 % for square pattern, along 3.19 meters steady-state error, and -1.12 meters undershoot average with an accuracy of 46.73 % for a zig-zag way. The LQR method with integrator produce of 1.06 meters steady-state error with accuracy 94.96 % without multiple-overshoot for square pattern, the 1.06 meters steady-state error, and -0.18 meters undershoot average with an accuracy of 86.49 % for the zig-zag way. The results show that the LQR control method with Integrator can minimize and improve steady-state error and multiple overshoots in quadrotor flight. The condition makes the quadrotor able to flying path waypoints with the correct system specification © 2022. IIUM Engineering Journal. All Rights Reserved.
Department of Electronics and Informatics Engineering, Yogyakarta State University, Yogyakarta, Indonesia; Department of Computer Science and Electronics, Universitas Gadjah Mada, Yogyakarta, Indonesia; Department of Mechatronics Engineering, International Islamic University Malaysia, Jalan Gombak, Kuala Lumpur, 53100, Malaysia
