A Q,R Search Method for an Unmanned Helicopter Based on LQR

Abstract

Based on a simplified mathematical model of a certain type of unmanned helicopter (UMH), this paper realizes its longitudinal hovering attitude control Based on LQR (linear quadratic regulator). This paper starts with practice, and designs Q, R parameter search algorithm for this type of unmanned helicopter. Simulation results show that this algorithm can find the optimal Q, R parameters, so it has important engineering significance.