Comparison of Quadcopter Stability Motion Using Feedback Control System and LQG

The Quadcopter is a flying machines that has four propellers driven by rotors. It has a simple mechanical design and excellent maneuverability and can perform vertical takeoff and landing. In order for the quadcopter to fly properly, a controller is needed that can maintain the stability of its flight. In this paper, a comparison of quadcopter motion stability testing using the Feedback control and LQG methods was carried out. The Linear Quadratic Gaussian control method is used in this research, which combines the Linear Quadratic Regulator with Kalman Filter. LQG control was chosen because it can estimate state variables that are not measured and save costs and time. At the same time, the feedback control system was selected because it can improve systems performance from the feedback generated. This research shows that the LQG control system is better than the feedback control.