Error-State LQR Formulation for Quadrotor UAV Trajectory Tracking

arXiv:2501.15768v3 Announce Type: replace 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.

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:2501.15768v3 [cs.RO] for this version)

From: Micah I. Reich [view email] [v1] Mon, 27 Jan 2025 04:34:37 UTC (951 KB) [v2] Fri, 5 Jun 2026 04:58:51 UTC (945 KB) [v3] Sun, 26 Jul 2026 18:28:49 UTC (945 KB)

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Error-State LQR Formulation for Quadrotor UAV Trajectory Tracking

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