Enhancing Quadrotor Trajectory Tracking in Construction via Proportional-Derivative Control Optimization

10 pages•Published: June 2, 2026

Garima Soharu Bhandari, Neelkumar Subhashbhai Ahir and Atefeh Mohammadpour

Abstract

The integration of quadrotor technology in construction has enhanced traditional practices by improving efficiency, precision, and safety across surveying, monitoring, and inspection tasks. However, achieving reliable trajectory tracking under real-world environmental and site conditions, such as wind, weather variability, obstacles, and complex terrain, remains a challenge. This paper addresses this gap by developing a Proportional-Derivative (PD) control framework with optimized control parameters aimed at enhancing the efficiency and reliability of quadrotor operations. The effectiveness of the approach is demonstrated through simulation studies, showing accurate trajectory tracking and operational stability. The results highlight that the proposed optimized controller can be deployed on construction sites for surveying and inspection tasks, as it is capable of accurately following desired trajectories with efficiency and stability.

Keyphrases: drone applications in construction, dynamics, optimization, trajectory tracking

In: Wesley Collins, Anthony Perrenoud and John Posillico (editors). Proceedings of Associated Schools of Construction 62nd Annual International Conference, vol 7, pages 615-624.

Links:	https://easychair.org/publications/paper/jWq2
	https://doi.org/10.29007/9h4x

BibTeX entry

@inproceedings{ASC2026:Enhancing_Quadrotor_Trajectory_Tracking,
  author    = {Garima Soharu Bhandari and Neelkumar Subhashbhai Ahir and Atefeh Mohammadpour},
  title     = {Enhancing Quadrotor Trajectory Tracking in Construction via Proportional-Derivative Control Optimization},
  booktitle = {Proceedings of Associated Schools of Construction 62nd Annual International Conference},
  editor    = {Wesley Collins and Anthony Perrenoud and John Posillico},
  series    = {EPiC Series in Built Environment},
  volume    = {7},
  publisher = {EasyChair},
  bibsource = {EasyChair, https://easychair.org},
  issn      = {2632-881X},
  url       = {/publications/paper/jWq2},
  doi       = {10.29007/9h4x},
  pages     = {615-624},
  year      = {2026}}

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