Implementation and Stabilization of a Quadcopter Using Arduino and the Combination of LQR and SMC Methods
Rahmi Elagib, Ahmet Karaarslan
Journal of Engineering Research and Reports · pp. 42–58 · Published 12 Oct 2022
10.9734/jerr/2022/v23i7735Abstract
This paper presents a combination of Linear Quadratic Regulator (LQR) and Sliding Mode Control (SMC) methods to control a four-rotor unmanned aerial vehicle (UAV) that takes off and lands vertically (VTOL). Although controlling UAVs is difficult due to their highly nonlinear characteristics, the controller successfully controlled and stabilized the quadcopter in altitude and attitude by combining the advantages of the nonlinear and linear controllers. The Newton-Euler method is employed to build the dynamic model of the quadcopter, which is divided into two subsystems: the under-controlled subsystem and the fully actuated subsystem. The entire controller model was demonstrated in MATLAB/Simulink, and results demonstrating the controller's performance in various scenarios were obtained.
References (9)
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Cited by 14
Nandana S Raj, Niranjana Anil, Sreya B Sabu · 2025 5th Asian Conference on Innovation in Technology (ASIANCON) · 2025
Daniel Fikadu Assefa, Elisabeth Andarge Gedefaw, Chala Merga Abdissa · Engineering Reports · 2025
Ho Chi Minh city University of Technology and Education (HCMUTE), Thi-Thanh-Hoang Le · Robotica & Management · 2023
Lal Babu Yadav, Arunangshu Ghosh · Springer Proceedings in Information and Communication Technologies · 2024
Rahmi Elagib, Ahmet Karaarslan · Drones - Various Applications · 2023
Showing 5 of 14 known citations — external sources report more than can currently be individually listed.
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