HI,
2 years ago, I had achieved that with USB cable connection and Bluetooth too. If I remember well, I used
this tutorial
to do it.
But I had found out that even it worked well the first time I set up the controller, I faced issues then after a reboot or shutdown. I had also tried with a cheap and non PS4 controller and it worked way better. But I no longer use any controller now, I just pick up a target using the kstars planetarium (and a few times with the mount manual controller in Ekos)