A LQR controller for a quadrotor: Design and experiment

In this paper, a LQR controller is proposed for attitude control of a quadrotor. This controller can realize the fast and stable attitude control and the output of the system fast track the reference input. First, the mechanism of quadrotor is analyzed and the mechanism model is carried out according to the assumptions. Then, the LQR controller is designed and a simulation is performed to demonstrate stability. At last, the performance of the controller is observed by the design experiment. Experimental results show the effectiveness of the LQR controller on the self-build quadrotor.