Pesawat tanpa awak diharapkan untuk dapat terbang secara otomatis, khususnya dalam melakukan manuver dasar. Manuver dasar yang dimaksud adalah terbang secara lurus dan datar, di mana tidak terjadinya gerak rotasi pada sumbu roll, pitch, dan yaw yang bekerja pada pesawat. Selain terbebas dari gerak rotasi, wahana perlu mempertahankan kecepatan terbangnya untuk mencegah wahana kehilangan gaya angkat dan terjatuh. Penelitian ini menggunakan metode kendali Linear Quadratic Regulator (LQR) untuk memperoleh gain full-state feedback K dari sistem kendali. Gain sistem kendali full-state feedback tersebut digunakan untuk mengendalikan nilai luaran u yang dikonversikan menjadi pulse width modulation untuk mengendalikan kecepatan putaran pada motor brushless dan sudut pada servo. Hasil penelitian ini adalah respons kendali yang didapatkan telah sesuai dengan spesifikasi yang diinginkan. Rise time yang dihasilkan oleh sistem kendali anti-roll, anti-pitch, dan anti-yaw sebesar: 0,6, 0,5, 1,5 detik. Settling time untuk sistem kendali anti-roll, anti-pitch, dan anti-yaw masing-masing sebesar: 1,6, 1,8, 2,2 detik. Overshoot terjadi pada kendali anti-roll, anti-pitch, anti-yaw sebesar: 2,5, 3,3, 4,5 º. Nilai steady-state error untuk kendali anti-roll, anti-pitch, dan anti-yaw adalah: 0,4, 0,7, 4 º. Kendali kecepatan terbang pesawat tanpa awak memiliki rise time 1,2 detik, , settling time sebesar 2,2 detik, overshoot sebesar 0,67 meter/detik, steady-state error 5,33 meter/detik.

Unmanned aircraft are expected to fly automatically, especially in performing basic maneuvers. The basic maneuver is to fly straight and level, where no rotation occurs on the roll, pitch, and yaw axes that work on the plane. In addition to free from rotational motion, the aircraft needs to maintain its flying speed to prevent the vehicle from losing lift and free-fall. This research uses Linear Quadratic Regulator (LQR) control method to obtain full-state feedback K gain from the control system. The gain of the full-state feedback is used to control the output value of u which is converted into pulse width modulation to control the rotational speed of the brushless motor and the angle of servo. The result of this research is system response obtained is matched with the desired specification. Rise time generated by the anti-roll, anti-pitch, and anti-yaw control systems is: 0,6, 0,5, 1,5 seconds. Settling time for anti-roll, anti-pitch and anti-yaw control systems is respectively 1,6, 1,8, 2,2 seconds. Overshoot occurs in anti-roll, anti-pitch, anti-yaw controls of: 2,5, 3,3, 4,5 º. The steady-state error values for anti-roll, anti-pitch, and anti-yaw controls are: 0,4, 0,7, 4 º. Unmanned aircraft speed control has a rise time 1,2 seconds, settling time is 2,2 seconds, overshoot is 0,67 meters / second, steady-state error is 5,33 meters / second.

Kata Kunci : LQR, anti-rotasi, PWM, UAV