Attitude control of UAV bicopter using adaptive LQG
This paper aims to design a controller that is able to maintain the stability of the unmanned aerial vehicle (UAV) bicopter attitude when carrying a payload. When the value of the payload inertia is in uncertainty, it is necessary to design a controller that can carry out the adaptation process. Thi...
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Elsevier
2024-12-01
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| Series: | Results in Control and Optimization |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2666720724001140 |
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| author | Fahmizal Hanung Adi Nugroho Adha Imam Cahyadi Igi Ardiyanto |
| author_facet | Fahmizal Hanung Adi Nugroho Adha Imam Cahyadi Igi Ardiyanto |
| author_sort | Fahmizal |
| collection | DOAJ |
| description | This paper aims to design a controller that is able to maintain the stability of the unmanned aerial vehicle (UAV) bicopter attitude when carrying a payload. When the value of the payload inertia is in uncertainty, it is necessary to design a controller that can carry out the adaptation process. This paper proposes an Linear Quadratic Gaussian (LQG) adaptive controller to control the attitude of the bicopter with uncertain payload conditions. The proposed adaptive mechanism is a development of LQG control that can follow the response of the reference model. The success of LQG adaptive control is tested by providing uncertain payload parameters. The simulation results show that the LQG adaptive controller successfully overcomes the influence of inertial disturbances originating from the payload. There is a gain ρ in the LQG adaptive mechanism, this gain is influenced by the parameter σ which acts as a learning rate that produces a response to adapt to the response of the reference model. From the test results obtained when the value of σ is enlarged there is an increased overshoot condition/value but the root mean square error (RMSE) value decreases. That means when the RMSE decreases, the response is getting closer to the model reference. To reduce the overshoot effect of increasing the value of σ, an improvement is made in the search for the gain value of ρ. From the test results, the value of σ=1 was chosen with the development of the gain equation ρ. |
| format | Article |
| id | doaj-art-1b3433d570f1450c9f5b019ce8bca0c6 |
| institution | Kabale University |
| issn | 2666-7207 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Results in Control and Optimization |
| spelling | doaj-art-1b3433d570f1450c9f5b019ce8bca0c62024-12-17T05:01:18ZengElsevierResults in Control and Optimization2666-72072024-12-0117100484Attitude control of UAV bicopter using adaptive LQG Fahmizal0Hanung Adi Nugroho1Adha Imam Cahyadi2Igi Ardiyanto3Department of Electrical and Information Engineering, Engineering Faculty, Universitas Gadjah Mada, Jl. Grafika No 2, Yogyakarta, 55281, Indonesia; Department of Electrical Engineering and Informatics, Vocational College, Universitas Gadjah Mada, Jl. Yacaranda III, Yogyakarta, 55281, IndonesiaDepartment of Electrical and Information Engineering, Engineering Faculty, Universitas Gadjah Mada, Jl. Grafika No 2, Yogyakarta, 55281, Indonesia; Corresponding author.Department of Electrical and Information Engineering, Engineering Faculty, Universitas Gadjah Mada, Jl. Grafika No 2, Yogyakarta, 55281, IndonesiaDepartment of Electrical and Information Engineering, Engineering Faculty, Universitas Gadjah Mada, Jl. Grafika No 2, Yogyakarta, 55281, IndonesiaThis paper aims to design a controller that is able to maintain the stability of the unmanned aerial vehicle (UAV) bicopter attitude when carrying a payload. When the value of the payload inertia is in uncertainty, it is necessary to design a controller that can carry out the adaptation process. This paper proposes an Linear Quadratic Gaussian (LQG) adaptive controller to control the attitude of the bicopter with uncertain payload conditions. The proposed adaptive mechanism is a development of LQG control that can follow the response of the reference model. The success of LQG adaptive control is tested by providing uncertain payload parameters. The simulation results show that the LQG adaptive controller successfully overcomes the influence of inertial disturbances originating from the payload. There is a gain ρ in the LQG adaptive mechanism, this gain is influenced by the parameter σ which acts as a learning rate that produces a response to adapt to the response of the reference model. From the test results obtained when the value of σ is enlarged there is an increased overshoot condition/value but the root mean square error (RMSE) value decreases. That means when the RMSE decreases, the response is getting closer to the model reference. To reduce the overshoot effect of increasing the value of σ, an improvement is made in the search for the gain value of ρ. From the test results, the value of σ=1 was chosen with the development of the gain equation ρ.http://www.sciencedirect.com/science/article/pii/S2666720724001140Attitude controlUAV bicopterAdaptive LQG |
| spellingShingle | Fahmizal Hanung Adi Nugroho Adha Imam Cahyadi Igi Ardiyanto Attitude control of UAV bicopter using adaptive LQG Results in Control and Optimization Attitude control UAV bicopter Adaptive LQG |
| title | Attitude control of UAV bicopter using adaptive LQG |
| title_full | Attitude control of UAV bicopter using adaptive LQG |
| title_fullStr | Attitude control of UAV bicopter using adaptive LQG |
| title_full_unstemmed | Attitude control of UAV bicopter using adaptive LQG |
| title_short | Attitude control of UAV bicopter using adaptive LQG |
| title_sort | attitude control of uav bicopter using adaptive lqg |
| topic | Attitude control UAV bicopter Adaptive LQG |
| url | http://www.sciencedirect.com/science/article/pii/S2666720724001140 |
| work_keys_str_mv | AT fahmizal attitudecontrolofuavbicopterusingadaptivelqg AT hanungadinugroho attitudecontrolofuavbicopterusingadaptivelqg AT adhaimamcahyadi attitudecontrolofuavbicopterusingadaptivelqg AT igiardiyanto attitudecontrolofuavbicopterusingadaptivelqg |