BUILDING A SELF-TUNING LQR CONTROLLER FOR QUADROTOR’S PITCH ANGLE CONTROL CHANNEL

Abstract

This paper presents the construction of a linear quadratic regulator optimal controller (LQR) for the pitch angle control channel of the quadrotor and a self-tuning solution for this controller. This is a solution to ensure the stability of the quadrotor pitch angle control channel when the system parameter changes randomly. The simulation results on Matlab-Simulink software show that the built-in controller stabilizes the system well.