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November 18, 2025SensorsOpen Access

A Hierarchical PSMC–LQR Control Framework for Accurate Quadrotor Trajectory Tracking

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Authors

SCShiliang ChenXZXinyu ZhuYFYichao Fang

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Overview

Simulation results demonstrate enhanced trajectory tracking accuracy and robustness in quadrotors using PSMC and LQR controls.

Key Points

  • Superior trajectory tracking accuracy achieved with over 28% mean tracking error reduction in z-direction under calm conditions.
  • Robustness is enhanced through a particle swarm optimization compensated model predictive controller and gain scheduling in linear quadratic regulator.
  • Analysis ensures closed-loop convergence using Lyapunov stability principles across varying flight conditions.
  • Implementation shows improved performance, outperforming conventional MPC-LQR with significant error reductions in dynamic environments.

Cite This Study

Chen et al. (2025) studied this question.

synapsesocial.com/papers/692509ddc0ce034ddc3521c7https://doi.org/10.3390/s25227032
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Also Consider

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  1. 1A Hierarchical PSMC–LQR Control Framework for Accurate Quadrotor Trajectory Tracking2025 · 2 citations
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  4. 4Real-Time Adaptive Control for Quadrotor UAV Trajectory Tracking: Hardware-in-the-Loop Validation and Performance Evaluation2026
  5. 5An optimal hybrid quadcopter control technique with MPC-based backstepping2024 · 2 citations