A new feedback linearization LQR control for attitude of quadrotor

This paper presents a new robust and stable controller for attitude of quadrotor. We proposed a combination of feedback linearization and LQR (linear quadratic regulator) control strategy. To our best acknowledge, this method is firstly employed to stabilize the attitude of the quadrotor with disturbance. Numerical simulations demonstrate the stabilizations and robustness of the control system under nominal conditions. Furthermore, a bounded disturbance was added to the system in flight test, and the results also illustrate the successful behavior of the controller proposed.