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.
Keywords
Cite
@article{arxiv.2501.15768,
title = {Error-State LQR Formulation for Quadrotor UAV Trajectory Tracking},
author = {Micah Reich},
journal= {arXiv preprint arXiv:2501.15768},
year = {2025}
}