Error-State LQR Control of a Multirotor UAV

We propose an implementation of an LQR controller for the full-state tracking of a time-dependent trajectory with a multirotor UAV. The proposed LQR formulation is based in Lie theory and linearized at each time step according to the multirotor's current state. We show experiments in both simulation and hardware that demonstrate the proposed control scheme's ability to accurately reach and track a given trajectory. The implementation is shown to run onboard at the full rate of a UAV's estimated state.