Simulation of the Quadcopter Dynamics with LQR based Control

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.