{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T00:31:14Z","timestamp":1777422674412,"version":"3.51.4"},"reference-count":50,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2018,12,22]],"date-time":"2018-12-22T00:00:00Z","timestamp":1545436800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","award":["Discovery Grant 116806"],"award-info":[{"award-number":["Discovery Grant 116806"]}],"id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000196","name":"Canada Foundation for Innovation","doi-asserted-by":"publisher","award":["LOF Grant 31211"],"award-info":[{"award-number":["LOF Grant 31211"]}],"id":[{"id":"10.13039\/501100000196","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this paper, an infinite-horizon adaptive linear quadratic tracking (ALQT) control scheme is designed for optimal attitude tracking of a quadrotor unmanned aerial vehicle (UAV). The proposed control scheme is experimentally validated in the presence of real-world uncertainties in quadrotor system parameters and sensor measurement. The designed control scheme guarantees asymptotic stability of the close-loop system with the help of complete controllability of the attitude dynamics in applying optimal control signals. To achieve robustness against parametric uncertainties, the optimal tracking solution is combined with an online least squares based parameter identification scheme to estimate the instantaneous inertia of the quadrotor. Sensor measurement noises are also taken into account for the on-board Inertia Measurement Unit (IMU) sensors. To improve controller performance in the presence of sensor measurement noises, two sensor fusion techniques are employed, one based on Kalman filtering and the other based on complementary filtering. The ALQT controller performance is compared for the use of these two sensor fusion techniques, and it is concluded that the Kalman filter based approach provides less mean-square estimation error, better attitude estimation, and better attitude control performance.<\/jats:p>","DOI":"10.3390\/s19010046","type":"journal-article","created":{"date-parts":[[2018,12,24]],"date-time":"2018-12-24T10:37:49Z","timestamp":1545647869000},"page":"46","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":36,"title":["Adaptive Linear Quadratic Attitude Tracking Control of a Quadrotor UAV Based on IMU Sensor Data Fusion"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2723-2111","authenticated-orcid":false,"given":"N.","family":"Koksal","sequence":"first","affiliation":[{"name":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Avenue West, Waterloo, ON N2L 3G1, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Jalalmaab","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Avenue West, Waterloo, ON N2L 3G1, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5333-0201","authenticated-orcid":false,"given":"B.","family":"Fidan","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Avenue West, Waterloo, ON N2L 3G1, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2018,12,22]]},"reference":[{"key":"ref_1","unstructured":"Bouabdallah, S., Noth, A., and Siegwart, R. 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