Available online at www.sciencedirect.com ScienceDirect Materials Today: Proceedings 24 (2020) 326–332 www.materialstoday.com/proceedings * Corresponding author. Tel.: +91-7830406009 E-mail address:faraz4433@gmail.com 2214-7853© 2018 Elsevier Ltd. All rights reserved. Selection and/or Peer-review under responsibility of International Conference on Advances in Materials and Manufacturing Applications [IConAMMA 2018]. IConAMMA_2018 Simulation of the Quadcopter Dynamics with LQR based Control Faraz Ahmad * , Pushpendra Kumar, Anamika Bhandari, Pravin P. Patil Department of Mechanical Engineering Graphic Era University, Dehradun-248002, India Abstract The present paper deals with simulation of an unmanned aerial vehicle (UAV) called quadcopter. An optimal control is developed for the position and yaw control of the quadcopter, based on linear quadratic regulator (LQR). The quadcopter dynamics describe its behaviour in three dimensional spaces. The developed LQR based controller applied on the quadcopter positions in longitudinal, lateral, and vertical directions, and orientation in yaw direction. Simulation studies are performed on the dynamic model of quadcopter, while applying the developed control strategy. Furthermore, to improve the obtained results, an integral compensation is induced for the position control in vertical direction. © 2018 Elsevier Ltd. All rights reserved. Selection and/or Peer-review under responsibility of International Conference on Advances in Materials and Manufacturing Applications [IConAMMA 2018]. Keywords: Quadcopter, Modeling, LQR, LQI, Control; 1. Introduction In the last decades, the research in the area of drones is increased due to their interesting application in various fields. This paper discusses the modeling and control of a quadcopter UAV (drone). A Quadcopter has four propellers with four D.C. motor mounted at the end of each arm of its cross section frame. It also has on-board microcontroller and battery which provide required control and power to the motors. These motors provide the angular speeds to the respective propellers. Quadcopter is an under-actuated system, where six degrees of freedom are controlled by the four input actuators. Furthermore, rotation of propellers generates upward thrust forces, which enables the motion of quadcopter in three dimensional spaces. Many researchers have contributed in the field of modeling and controlling of quadcopter. The existing literature provides the motivation to analyze the quadcopter dynamics with control to improve its performance. The