Trajectory Tracking Control of Quadrotor using LQ-Servo Control with SimMechanics

Abstract

The design of a Linear Quadratic (LQ) -Servo for trajectory tracking control of a Quadrotor is presented in this work. In this study, Newton's and Euler's laws are utilized to develop a mathematical model of how the movement of a Quadrotor is simulated. We get a linearized version of the model, so we can make a linear controller called LQ-Servo. The success of LQ-Servo control was tested in two scenarios, the first trajectory tracking at a circular position and the second with the position of the trajectory number "8". The simulation results show that the proposed LQ-Servo controller successfully overcame inertial disturbances when the UAV Bicopter performs trajectory tracking. Based on the results, it is evident that the LQ-Servo control can still maintain Quadrotor trajectory tracking with only a slight increase in RMSE when subjected to inertial disturbances. Finally, the SimMechanics are used to observe the Quadrotor's behavior under the proposed control strategies in virtual reality.