Error-State LQR Formulation for Quadrotor UAV Trajectory Tracking

Abstract:This article presents an error-state Linear Quadratic Regulator (LQR) formulation for robust trajectory tracking in quadrotor Unmanned Aerial Vehicles (UAVs). The proposed approach leverages error-state dynamics and employs exponential coordinates to represent orientation errors, enabling a linearized system representation for real-time control. The control strategy integrates an LQR-based full-state feedback controller for trajectory tracking, combined with a cascaded bodyrate controller to handle actuator dynamics. Detailed derivations of the error-state dynamics, the linearization process, and the controller design are provided, highlighting the applicability of the method for precise and stable quadrotor control in dynamic environments.

Robotics (cs.RO); Systems and Control (eess.SY)

arXiv:2501.15768 [cs.RO]

(or arXiv:2501.15768v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2501.15768 Focus to learn more arXiv-issued DOI via DataCite

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