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How Tuning, Reference Preview, Actuator Modeling, and Fallback Policies Change Quadrotor Controller Comparisons: A Reproducible Simulation Study
Quadrotor controller comparisons commonly report a single tracking error, although the resulting ranking also depends on tuning effort, reference information, actuator prediction, optimizer fallback, and command timing. We quantify these effects for cascade PID, hover LQR, boundary-layer sliding-mod
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