四旋翼无人机应用于目标跟踪或搜救任务时,会受到场地空间限制或受到气流干扰,因此要求无人机有较高的姿态控制精度。本文建立了四旋翼无人机动态模型,并对模型进行适当简化,然后根据状态空间模型,设计了LQR姿态控制器,通过MATLAB仿真实验表明,该控制器能实现飞行姿态的快速、无稳态误差跟踪。 When used in target tracking or search and rescue missions, quad-rotor UAVs are subject to space constraints or airflow disturbances, requiring UAVs to have higher attitude control accuracy. In this paper, a dynamic model of quadrotor UAV is established, and the model is simplified. Then, an LQR attitude controller is designed according to the state space model. The simulation results show that the controller can achieve fast and unsteady flight attitude Error tracking.