Position Control Using Linear Quadratic Gaussian on Vertical Take-Off Landing

The development of UAV (Unmanned Aerial Vehicle), especially the type of VTOL (Vertical Take-Off Landing) is very rapid due to many innovations in non-military uses. In VTOL, a control system that can maintain the tilt position to maneuver is needed. Currently, PID is commonly used, but the results are unacceptable due to poor response. LQG (Linear Quadratic Gaussian) is proposed as a single-axis VTOL position control, which aims to produce a fast and stable response so that it can support the needs of the aircraft to maneuver. The test is done in four conditions which are simulation, initial position variation, speed tracking, and loading. LQG is superior for three tests in settling time, overshoot/undershoot, and ISE with ISE improvement up to 73.88% in the second test. At the loading test, LQG has the worst performance when a load is added with higher ISE by 12.11% than PID.