Article

Reproducible Simulation Study of How Tuning, Reference Preview, Actuator Modeling, and Fallback Policies Affect Quadrotor Controller Comparisons

The study compares cascade PID, hover LQR, BL-SMC, linear MPC with LQR fallback (LMPC-F), a preview-enabled LMPC-F, and a geometric SO(3) controller on a nonlinear plant with rotor gyroscopic coupling, motor lag, and saturation. It finds that a unified twelve-candidate tuning protocol changed the mean-RMSE ranking obtained under fixed baseline settings, moving BL-SMC from last to first; the new ranking recurred on 50 fresh realizations and remained unchanged under a 48-candidate budget.

Part of the event: Tuning Protocol Changes Quadrotor Controller Rankings

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