| Abstrak/Abstract |
The ability of the quadrotor in the waypoint trajectory tracking becomes an essential requirement in the completion of various missions nowadays. However, the magnitude of steady-state errors and multiple overshoots due to environmental disturbances leads to motion instability. These conditions make the quadrotor experience a shift and even change direction from the reference path. As a result, to minimize steady-state error and multiple overshoots, this study employs a Linear Quadratic Regulator control method with the addition of an Integrator. Comparisons between LQR without Integrator and LQR with Integratorwere performed.They were implemented on a quadrotor controller to track square andzig-zagwaypoint patterns. From experimental results, LQR without Integrator produce of 2meterssteady-state error and -1.04metersundershoot average with an accuracy of 64.84% for square pattern, along 3.19meterssteady-state error,and -1.12metersundershoot average with an accuracy of 46.73% for a zig-zag way.The LQR method with integrator produce of 1.06 meters steady-state error with accuracy 94.96 % without multiple-overshoot for square pattern, the1.06meterssteady-state error,and -0.18metersundershoot average with an accuracy of 86.49% for the zig-zag way. Theresults show that the LQR control method with Integrator can minimize and improve steady-state error and multiple overshoots in quadrotor flight. The condition makes the quadrotor able toflying path waypoints with the correctsystemspecification. |
