Error-State LQR Formulation for Quadrotor UAV Trajectory Tracking

TL;DR

This paper introduces an error-state LQR control method for quadrotor UAVs that improves trajectory tracking accuracy and stability by linearizing error dynamics and integrating with existing control architectures.

Contribution

It develops a novel error-state LQR formulation using exponential coordinates for real-time quadrotor control, enhancing robustness and precision in dynamic environments.

Findings

Effective trajectory tracking demonstrated in simulations

Enhanced robustness against disturbances shown

Linearized control scheme suitable for real-time implementation

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.