LQR-Based Attitude Stabilization and PID Position Control for a Drone Quadrotor: Modeling, Simulation, and Experimental Validation

Cong-Anh Doan, Nguyen-Vu-Hoang-Long Le, Dinh-Long Le, Binh-Hau Nguyen *

Posts and Telecommunications Institute of Technology (PTIT)
11-Nguyen Dinh Chieu Street, Da Kao Ward, District 1, Ho Chi Minh City, Vietnam.
* Corresponding author. E-mail: haunb@ptit.edu.vn

Robotica & Management, Vol. 30, No. 2, pp. 15-20
DOI: https://doi.org/10.24193/rm.2025.2.3

Abstract: Drone quadrotors provide high maneuverability for autonomous missions but are hard to control because of nonlinear dynamics. This paper introduces a dual-loop strategy using a Linear Quadratic Regulator for attitude and a Proportional-Integral-Derivative controller for position. A nonlinear model guides design, and tests validate the method and demonstrate its effectiveness.

Keywords: Linear Quadratic Regulator (LQR), Proportional-Integral-Derivative (PID), Brushless DC (BLDC), Electronic Speed Controller (ESC), Inertial Measurement Units (IMU), Global Positioning System (GPS).

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