Cohen, Mitchell R.Mitchell R.CohenAbdulrahim, KhairiKhairiAbdulrahimForbes, James RichardJames RichardForbes2024-05-292024-05-2920202377-376610.1109/LRA.2020.3010214WOS:000554891100017https://ieeexplore.ieee.org/document/9143426https://oarep.usim.edu.my/handle/123456789/11635This letter considers optimal control of a quadrotor unmanned aerial vehicles (UAV) using the discrete-time, finitehorizon, linear quadratic regulator (LQR). The state of a quadrotor UAV is represented as an element of the matrix Lie group of double direct isometries, SE2(3). The nonlinear system is linearized using a left-invariant error about a reference trajectory, leading to an optimal gain sequence that can be calculated offline. The reference trajectory is calculated using the differentially flat properties of the quadrotor. Monte-Carlo simulations demonstrate robustness of the proposed control scheme to parametric uncertainty, state-estimation error, and initial error. Additionally, when compared to an LQR controller that uses a conventional error definition, the proposed controller demonstrates better performance when initial errors are large.en-USOptimization and optimal controlArticle5748575554