PID and LQR trajectory tracking control for an unmanned quadrotor helicopter: Experimental studies

The paper presents two trajectory tracking control strategies for an Unmanned Aerial Vehicle (UAV), Quanser Qball-X4 quadrotor. The mathematical model of the quadrotor Quanser Qball-X4 are studied. Based on the model, the Proportional-Integral-Derivative (PID) controller and Linear Quadratic Regulator (LQR) controller are designed to solve trajectory tracking problem for a Qball-X4. Simulations and experiments are carried out to compare the effectiveness of the designed control strategies.