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Experimental Research Paper | Aerospace Engineering | Volume 15 Issue 5, May 2026 | Pages: 534 - 540 | Vietnam
Simulation-Based Comparison of LQR and PID for Attitude Stabilization of Sub-2-kg UAVs
Abstract: This study compares PID and LQR controllers for attitude stabilization of sub-2-kg quadrotor UAVs using a unified linearized simulation model. Performance is evaluated in terms of transient response, steady-state accuracy, disturbance rejection, and control energy under both nominal and noisy conditions. The results show that PID offers faster response but exhibits higher sensitivity to disturbances and larger control effort, whereas LQR provides smoother responses, stronger robustness, and improved energy efficiency at the cost of slower transient behavior. Overall, the study highlights the performance trade-offs and indicates that controller selection should depend on mission requirements and the operating disturbance environment.
Keywords: UAV attitude control; quadrotor stabilization; linear quadratic regulator (LQR); Proportional Integral Derivative (PID); disturbance rejection; robust flight control
How to Cite?: I. Q. Pham, "Simulation-Based Comparison of LQR and PID for Attitude Stabilization of Sub-2-kg UAVs", Volume 15 Issue 5, May 2026, International Journal of Science and Research (IJSR), Pages: 534-540, https://www.ijsr.net/getabstract.php?paperid=SR26429103053, DOI: https://dx.dx.doi.org/10.21275/SR26429103053