Quadcopter Trajectory Tracking Control Analysis by Using PID and LQR Controllers

Quadcopters have seen broad uses in a variety of applications such as industries, agriculture field and for surveillances. Quadcopter can be used for the odor source localization in the cold storage to find the spoiled grains and fruits. In order to investigate the best performance of these unmanned aerial vehicles, precise trajectory tracking is required. In order to achieve precise trajectory tracking for quadcopters, this study compares the performance of two widely used control techniques that are proportional–integral–derivative (PID) controller and linear quadratic regulator (LQR) controller. An extensive examination is carried out, considering both theoretical concepts and MATLAB simulation. The PID controller, renowned for its simplicity and tuning ease, is assessed in terms of its capacity to control the motion of the quadcopter and follow predetermined trajectories. The LQR controller, based on optimal control theory, is also implemented to assess for improved trajectory tracking through state feedback and optimal control synthesis. The performance of both controllers is compared in this paper using simulation experiments, taking into account variables such external disturbances, reference trajectory complexity, and controller parameter variations.