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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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




    Publication date :

    2019-09-01


    Size :

    617094 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    DRONE'S LANDING SYSTEM

    European Patent Office | 2018

    Free access

    DRONE'S LANDING SYSTEM

    LEE SEON HO | European Patent Office | 2018

    Free access

    DRONE'S TAKING OFF AND LANDING SYSTEM

    LEE SEON HO | European Patent Office | 2019

    Free access

    DRONE AND DRONE'S LANDING SYSTEM COMPRISING THE DRONE

    LEE SEON HO | European Patent Office | 2017

    Free access

    Drone's trail navigation device and method

    European Patent Office | 2023

    Free access