An effective proportional-double derivative-linear quadratic regulator controller for quadcopter attitude and altitude control

A quadcopter control system is a fundamentally difficult and challenging problem because its dynamics modelling highly nonlinear, especially after accounting for the complicated aerodynamic effects. Plus, variables are interdependent coupled in nature. There six controllers studied analysed this work which (1) Proportional–Integral–Derivative (PID), (2) Proportional-Derivative (PD), (3) Linear Quadratic Regulator (LQR), (4) Proportional-Linear (P-LQR), (5) Proportional-Derivative-Linear (PD-LQR) lastly (6) proposed controller named Proportional-Double Derivative-Linear (PD2-LQR) controller. The altitude attitude stabilization of have been investigated using MATLAB/Simulink software. mathematical model Newton–Euler approach applied to these has illuminated (i.e. pitch, yaw, roll) motions quadcopter. simulation results PD2-LQR compared with PD, PID, LQR, P-LQR, PD-LQR controllers. findings elucidated that significantly improves performance almost all responses. Hence, can be as an alternative four quadcopters.