An Optimal Guidance Law Applied to Quadrotor Using LQR Method

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  • JAFARI Hamidreza
    Department of Aerospace Engineering, K. N. Toosi University of Technology
  • ZAREH Mehran
    Department of Aerospace Engineering, K. N. Toosi University of Technology
  • ROSHANIAN Jafar
    Department of Aerospace Engineering, K. N. Toosi University of Technology
  • NIKKHAH Amirali
    Department of Aerospace Engineering, K. N. Toosi University of Technology

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Abstract

The optimal guidance law of an autonomous four-rotor helicopter, called the Quadrotor, using linear quadratic regulators (LQR) is presented in this paper. The dynamic equations of the Quadrotor are considered nonlinear so to find an LQR controller, it is necessary that these equations be linearized in different operation points. Due to importance of energy consumption in Quadrotors, minimum energy is selected as the optimal criteria.

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