An Adaptive Pose Controller of 6DOF Quadcopters Using a State Observer

Unmanned aerial vehicles (UAV, drones) are becoming one of the key machines/tools of the modern world, especially in military applications. Numerous research work is underway to explore the possibility of using these machines in other applications such as delivery, protecting wildlife, agricultural activities, academy, searching, and rescue missions. Since these machines are unmanned vehicles, their functionalities are completely dependent upon the performances of their control systems. This article presents a control approach to obtain better stabilization in the attitude and altitude of a quadcopter under different disturbance conditions. The controller proposed is contingent on a Linear Quadratic Regulator (LQR) structure with a state observer (SO). The combination of LQR controller and the state observer is used to control and filter out the sensors and systems noises. Therefore, the quadcopter can be controlled to result in expected control performances in numerous different environments. Finally, the effectiveness of the proposed method is demonstrated through simulation results.