Control of a Quadrotor UAV: Gain-Scheduling Interpolated LQR vs Backstepping Controller
11th International Conference on Recent Advances in Air and Space Technologies, Conference Program, RAST 2026, İstanbul, Türkiye, 13 - 15 Mayıs 2026, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/rast69551.2026.11684547
- Basıldığı Şehir: İstanbul
- Basıldığı Ülke: Türkiye
- Anahtar Kelimeler: Backstepping, Differential Evolution Optimization, Gain Scheduling, LQR, Quadrotor UAV
- Yıldız Teknik Üniversitesi Adresli: Evet
Özet
In this study, an interpolated Linear-Quadratic Regulator (LQR) is designed to achieve full control of a quadrotor Unmanned Air Vehicle (UAV) in order to minimize the heavy computational burden of the analytical gain-scheduling LQR. To achieve optimal tracking performance for the quadrotor UAV, the LQR weighting matrices (Q and R) are tuned using a Differential Evolution (DE) optimization algorithm, specifically designed to minimize average position tracking errors while strictly adhering to actuator limits. To test the DE optimization-based interpolated gain scheduling controller for a quadrotor UAV, a comparative analysis of trajectory tracking controllers (analytical LQR, backstepping controller, and interpolated LQR) is presented in the simulation studies. The simulation results allow for a comprehensive discussion on actuator limitation, chattering, and saturation behaviors, thereby highlighting the practical applicability and trade-offs of each control strategy for resource-constrained UAV systems under disturbances.