A flight control system in VTOL plane for waypoint tracking using LQR method.

The fixed-wing UAV vehicle can fly glide and has long-range roaming capability. On the other hand, rotary-wing UAVs can fly (hover) but cannot fly during fixed-wing. Fixed-wing rides can experience deviations when turning at large turning angles when doing waypoint missions. Deviations that occur due to maneuver limitations can be overcome by combining fixed-wing UAV and rotary-wing UAV types. The LQR control stabilizes both vehicle modes by processing multiple inputs for use on multiple outputs. System testing is carried out on the path tracking to find out the system's functioning, while the results of tests that have been carried out for three waypoint points were obtained, for the WP1 point to the WP2 point, and the deviation occurred by 3 meters. Then for the movement from the WP2 point to the WP3 point, the deviation is 2.5 meters. The ride time from the start point to the finish point is 30 seconds. [ABSTRACT FROM AUTHOR]