Auto landing system on a fixed wing unmanned aerial vehicle using linear quadratic approach

The primary control issue on Unmanned Aerial Vehicle (UAV) is to control the rotation motion in the form of pitch, roll, and yaw. These rotational movements are used for various flight phases. The flight phases are at least divided into 3, consisting of taking off, cruising, and landing phases. The landing phase is one of the most critical phases. If the flight control of a UAV in this phase is not optimal, then it can crash. The landing phase control system in this research uses the Linear Quadratic Regulator (LQR) method. This method works on a full-state feedback control system. This control system will produce style and torque, both of which will be converted to PWM (Pulse Width Modulation) signals and the servos deflection angle values. The PWM signals play a role in regulating how fast the brushless motor rotates. The control system is used to maintain the stability of the UAV upon landing so that the UAV does not experience undesirable things. Landing phase testing results show that the control system has been able to land the UAV with an optimal control response. © 2019 IEEE.