2020
Finite-Horizon LQR Control of Quadrotors on $SE_2(3)$
RA-L 2020
This letter considers optimal control of a quadrotor unmanned aerial vehicles (UAV) using the discrete-time, finite-horizon, linear quadratic regulator (LQR). The state of a quadrotor UAV is represented as an element of the matrix Lie group of double direct isometries, SE <sub xmlns:mml="http://www.