Design and Implementation of a Quadcopter Based on a Linear Quadratic Regulator (LQR)

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Amevi Acakpovi
François-Xavier Fifatin
Maurel Aza-Gnandji
François V. N. Kpadevi
Justice Nyarko

Keywords

Unmanned Aerial Vehicle (UAV), Linear Quadratic Regulator (LQR), PID, stability, accuracy, 3D printing, CadDian, IoT

Abstract

This paper presents the design and construction and control of a quadcopter drone for Aerial Data Collection (ADC). The frame of the drone was designed using CadDian Software and the parts were printed using a 3D printer. The flight controller was based on Arduino board using an Atmega328p microprocessor with GSM, GPS and GPRS for sending data over the internet and also enhancing long range flight. A feedback control system was developed and tested to control the stability of drone. The proposed control strategy of the drone was tested for a case of pursuit of trajectory and also for speed of response and the findings were very positive confirming the appropriateness of the control measures for independent and autonomous flying with promising precision. This Unmanned Aerial Vehicle (UAV) fitted with IoT has the capability of collecting and sending data over the internet and therefore can be used in many applications including risk assessment, forestry management, urban planning, coastal zone management, infrastructure monitoring, post-disaster damage assessment and delivery of medical supplies.

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