IMPLEMENTASI METODE LQR DAN KALMAN FILTER PADA QUADROTOR UNTUK KEADAAN MELAYANG; IMPLEMENTATION OF LQR AND KALMAN FILTER METHOD IN QUADROTOR FOR HOVERING STATE

IVAN FAJAR ARISMAWAN, Andhi Dharmawan

2015 | Skripsi | FMIPA

rotors. The advantages of quadrotor is quadrotor able to take off and land vertically. The ability to fly by float is also one of the advantages of UAV types quadrotor. One of the difficulties of using quadrotor is made quadrotor to be able to fly and maintain euler angles (roll, pitch, yaw). Linear Quadratic Regulator (LQR) as one method to make quadrotor control system can be coupled with the Kalman filter. It aims to reduce measurement error from the process sensor fussion and maintain euler angles (roll, pitch and yaw). Kalman filter aims to reduces measurement error of the sensor fussion. Results of the Kalman filter then becomes input state for LQR control the roll angle and pitch angle. Input state is multiplied by a negative feedback

Kata Kunci : LQR; kalman filter; euler angles