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

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/tcwtspt45au80tsu0xswmyxzq
- Original: https://arxiv.org/abs/2610.35165

## Summary

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.