  This paper describes the design of a linear quadratic gaussian (LQG) for
trajectory tracking control of UAV Bicopter. In this work, disturbance in the
form of payload significantly affects the trajectory tracking control process
on the UAV Bicopter when using a linear quadratic regulator (LQR) controller.
The use of a LQR control will be optimal in the case of a state regulator
towards an equilibrium point in a system, but for the tracking case, the LQR
controller is not capable of optimally, especially in systems that have high
levels of nonlinearity and system dynamic changes such as inertial
disturbances. Therefore, this paper proposes the design of a LQG control that
is expected to overcome system dynamic changes, in this case in the form of
inertial disturbances to the UAV Bicopter when carrying a payload. The success
of LQG control was tested in two scenarios, the first trajectory tracking at a
circular position and the second with the position of the trajectory number
"8". The simulation results show that the proposed LQG controller successfully
overcame inertial disturbances when the UAV Bicopter performs trajectory
tracking. When given an inertial disturbance, the trajectory tracking test
results show that the LQG control has a lower root mean square error (RMSE)
value than the LQR control.
