Attitude and Horizontal Speed Control System on Unmanned Aerial Vehicle Using LQR

Unmanned Aerial Vehicles (UAV) or drones are expected to fly automatically, especially in performing basic maneuvers. The necessary maneuver is to fly straight and level, where no rotation occurs on the roll, pitch, and yaw axes that work on the plane. Also, to free from rotational motion, the aircraft needs to maintain its horizontal speed to prevent the vehicle from losing lift and free-fall. This research uses a Linear Quadratic Regulator (LQR) control method to obtain full-state feedback K gain from the control system. The gain of the full-state feedback is used to control the output, which is converted into Pulse Width Modulation to control the rotational speed of the brushless motor, and the angle of servo. The result of this research is that system response obtained is optimum with the desired specification.