Robust control for a quadrotor UAV based on linear quadratic regulator

In the paper, a linear quadratic regulator is developed for the control of a quadrotor subject to external disturbance. The nonlinear mathematical model of quadrotor is converted to a linear model by using feedback linearization technique. The control inputs of quadrotor system are derived based on linear quadratic regulator (LQR) theory. The effectiveness of the proposed algorithm has been demonstrated via simulation and real experiment.