Modeling and Comparative Control Analysis of a Quadrotor UAV: PD, LQR, and LQI Approaches
12th International Conference on Control, Decision and Information Technologies, CoDIT 2026, Bari, Italy, 13 - 16 July 2026, pp.648-653, (Full Text)
- Publication Type: Conference Paper / Full Text
- Doi Number: 10.1109/codit70676.2026.11631026
- City: Bari
- Country: Italy
- Page Numbers: pp.648-653
- Yıldız Technical University Affiliated: Yes
Abstract
In this study, the position and attitude control dynamics of a quadrotor UAV are investigated using a nonlinear Newton-Euler model, with a primary focus on the comparative performance analysis of PD, LQR, and LQI controllers within the context of current literature. The LQI controller utilizes augmented integral states, and its asymptotic stability is confirmed via a Lyapunov argument derived from the algebraic Riccati equation. The core contribution is a rigorous, three-scenario quantitative benchmark, evaluating helical trajectory tracking, wind disturbance rejection, and agile planar maneuvering, to systematically analyze controller performance with fully reproducible, analytically justified tuning. Results show LQI reduces tracking error by ≈90% versus PD under wind disturbances. Limitations, including the absence of hardware validation, are explicitly discussed.