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, İtalya, 13 - 16 Temmuz 2026, ss.648-653, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/codit70676.2026.11631026
- Basıldığı Şehir: Bari
- Basıldığı Ülke: İtalya
- Sayfa Sayıları: ss.648-653
- Yıldız Teknik Üniversitesi Adresli: Evet
Özet
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.