Quadrotor Linear Quadratic Regulator Simulator

A state-dependent LQR controller simulator for quadrotor written in MATLAB.

This project is featured with Structure-preserving Doubling Algorithm for solving optimal control gain, which is 5.1 times faster than MATLAB built-in function.

Derivation

• pdf link

Run simulation

Octave under GNU/Linux

> octave quadrotor_sim.m

MATLAB

execute quadrotor_sim.m