Quadrotor height control system using LQR and recurrent artificial neural networks

Abstract

The quadorotor is a type of unmanned flying vehicle known as Unmanned Aerial Vehicle (UAV). In recent years, quadrotors have attracted much attention from researchers around the world due to their excellent maneuverability. A good control system in this quadrotor system is needed for ease of use of this quadrotor. One control system that is often used is the Linear Quadratic Regulator (LQR) control system. This control system has challenges for dynamic system disturbances in quadrotor control. Researchers proposed a recurrent artificial neural network (RNN) system to address these challenges.RRN is used to change the value of the feedback component in the LQR control system. The nature of the feedback component in LQR, which is static, is changed based on the system error value based on changes in the error value entered into the RNN. The result of this RNN is a change in the value of the LQR feedback component based on the input of the system. The results of this research show that LQR control with RNN produces a faster system response of 0.075 seconds and a faster settling time of 0.221 seconds. Compensation for the system response speed produces a higher overshot value.