C&SA | Contents

Volume 62 >>> № 1 JANUARY — FEBRUARY 2026

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UDC 53.088.3+53.088.7

Yu.K. Taranenko
“Likopak” Private Enterprise, Dnipro, Ukraine,
tatanen@ukr.net

O.Yu. Oliinyk
Dnipro Applied College of Radio Electronics, Dnipro, Ukraine,
oleinik_o@ukr.net

V.V. Lopatin
N.S. Polyakov Institute of Geotechnical Mechanics, NAS of Ukraine, Dnipro, Ukraine,
vlop@ukr.net

USING THE LQR CONTROLLER TO OPTIMIZE UAV CONTROL SYSTEMS

Abstract. The existing methods of optimizing the control of unmanned aerial vehicles (UAVs) are considered, which requires the development of more complex control algorithms to increase the performance of rotorcraft UAVs. Using the Python programming language, a dynamic optimization of the UAV control system in the state space is carried out. The integral criteria of the minimum energy consumption for control and the maximum speed, which are given by the corresponding functionals, are used. Using Python, namely the extended scipy library, the Riccati equation is solved using matrix operations and the eigenvalues of the closed-loop control system are obtained. Using the available scipy tools, the main function lqr(A,B,Q,R) of the controller is synthesized. An extended study is conducted that confirms the operability of the developed function.

Keywords: UAVs, quality criteria, modular, symmetric and compromise optima, state space, quadratic forms, LQR controller.

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