Linear optimal control of a parrot AR drone 2.0

摘要

The use of drones especially the multi rotor helicopter popularly known as quadrotors in the real world is limited. In this paper, we are going to talk about the optimal control of a quadrotor using the linear quadratic regulator and linear quadratic Gaussian feedback control. AR Drone 2.0 by Parrot was used to implement the control specifications. We have tried to optimize the weights on the regulator and by doing so a reasonable and fast time for steady state was achieved. Finally, we implemented the Kalman filter with considering the sensors in the quadrotor. The paper starts with the working principle of a quadrotor and by using the dynamic model of the quadrotor the state space model was designed, then LQR was implemented with the use of optimal weights on the regulators and from there Kalman filter was used for LQG by the sensors in Parrot AR drone 2.0.