3 DOF Quanser's Quadrotor Control Using LQR Based on PSO, FPA & ACO with Input Saturation

The wide use of Unmanned Aerial Vehicle UAV is pushing researchers to develop and improve control techniques for these systems. An optimized LQR controller is proposed to control the 3DOF quadrotor “Quanser” in this paper using different metaheuristic algorithms PSO, FPA and ACO to calculate the controller's gains. Comparing by other works, this article presents sufficient results obtained by the three techniques proposed to control the angular positions of the studied system “Roll, Pitch and Yaw” angles especially by respecting the saturation of applied voltage to the quadrotor motors in the simulation, and it makes it possible to find the best method taking into consideration three comparison factors: stability, speed and precision.