Control Design of Quadcopter using Output Feedback Control Pole Placement

Abstract

A Quadcopter is an UAV or unmanned aircraft with four rotors in a square formation that may be operated remotely, necessitating a control system. The Quadcopter mathematical model used is linear and the Quadcopter can move both rotationally and translationally. In this research, system analysis and control design were carried out using the Output Feedback Control Pole Placement method to control the roll angle and pitch angle, to maintain stability by increasing the performance of the Quadcopter system. The Quadcopter dynamic system analysis results are stable, controllable, and observable. The control design is carried out using three feedback gain scenarios $(K_{1},K_{2}$, and $K_{3})$ to adjust the eigenvalues so that they are stable. Based on the simulation results of roll and pitch angles, it is concluded that the third scenario $(K_{3})$ with the fastest stable time, and the first scenario $(K_{1})$ with the lowest overshoot value.