LQR MATRIX TUNING WITH ICA OPTIMIZATION ALGORITHM FOR MICRO AERIAL VEHICLE (SAMARAI MONO-COPTER)

In this paper, a newmicro unmanned aerial system is an emerging class of vehicles uniquely suited to performing covert missions. A linear model for the dynamics of a robotic samara (winged seed) in hovering flight is investigated. An efficient strategy based on LQR controller and ICA optimization is proposed to design the altitude hold mode autopilot. A novel cost function that comprises undershoot, overshoot, rise time, settling time, steady state error and stability are considered to estimate LQR gains optimality. Simulation results show that the proposed strategy performances are desirable in terms of the time response and error.