Finite-horizon optimal linear control for autonomous soft landing of small-scale helicopter

This paper addresses soft landing of miniature helicopter issue and suggests an optimal strategy to reduce the terminal error. As two conventional methods to solve two-point boundary value problems, matrix Riccati equations and transition matrix are applied in sequence to acquire high terminal accuracy in LQR control law design. The role of the transition matrix is elaborated. Simulations also show that extending final time can reduce the quadratic performance index effectively.