System identification and H∞-based control of quadrotor attitude

Design of Attitude Control System for Quadrotor

Quadrotor is a widely used aircraft now and be with the nonlinear, uncertain characteristics. Because of requirement on high attitude stability the attitude control system of quadrotor needs to be well designed. Firstly the movement pattern and working principle of the quadrotor are analyzed. Then the hardware schematic diagram of attitude control system is designed which includes several senso...

Improving Attitude Estimation and Control of Quadrotor Systems

Estimation and Control of a Tilt-Quadrotor Attitude

The aim of the present work is to continue the development of the prototype ALIV3, focusing on the estimation and control of the attitude. First the differences in motion and configurations of a tilt-quadrotor in relation with a common quadrotor are explained. The mass properties and actuators of the prototype are measured through tests specially developed. In the identification of the motors t...

Quadrotor Control System

In this paper, the quadrotor controller-motorpropeller subsystem and microelectromechanical subsystem (MEMS) are identified and computer model design for the quadrotor control system is developed. Identification stand modifications mentioned in the paper. Control law was based on digital PID controller. The presented solution can be applied in both an indoor and outdoor environment. Computer mo...

Model predictive quadrotor control: attitude, altitude and position experimental studies

This study addresses the control problem of an unmanned quadrotor in an indoor environment where there is lack of absolute localisation data. Based on an attached inertia measurement unit, a sonar and an optic-flow sensor, the state vector is estimated using sensor fusion algorithms. A novel switching model predictive controller is designed in order to achieve precise trajectory control, under ...