Control design of hexacopter using linear quadratic regulator-proportional integral (LQR-PI) method

A hexacopter is a type of Unmanned Aerial Vehicle (UAV) that features six propellers and significant potential applications in several sectors such as needs in military, production industries, and scientific research. The dynamic system modeling of the hexacopter is done based on the analysis of the object’s translational and rotational motion, along with the forces that influence it such as lift from the propellers and gravitational force. The obtained hexacopter model is linearized and is found to be stable and controllable. Control designing by combining Linear Quadratic Regulator method and Proportional Integral method (LQR-PI) is carried out in effort to provide control to the dynamic model of the hexacopter for accurate and efficient tracking. This combination of methods is chosen for its capability to handle various variables and challenging operating conditions. LQR-PI is developed to provide optimal input to system by minimizing a cost function that includes error. Simulation outcomes show the system with LQR-PI controller can accurately track x, y, z, and yaw trajectories with high accuracy. The resulting Root Mean Square Error (RMSE) values are 0.0496 on x-axis, 0.0574 on y-axis, 0.0189 on z-axis, 0.0079 on yaw angle, and 0.0451 on overall trajectories. This demonstrates that the LQR-PI controller can provide precise control, ensuring the hexacopter can follow the desired path efficiently and stable.