Attitude and position controller design and implementation for a quadrotor

作者：Mardan Maziar; Esfandiari Masoumeh; Sepehri Nariman^*

来源：INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2017, 14(3): 172988141770924.

DOI：10.1177/1729881417709242

• Quadrotor
• quantitative feedback control
• fuzzy logic control
• flight control
• disturbance rejection

The performance of quadrotors can be significantly disturbed in the presence of wind. In this article, a simple-toimplement attitude controller is proposed to render a robust and accurate trajectory tracking in the presence of disturbance and model uncertainties. The attitude controller design is based on quantitative feedback theory. A fuzzy logic controller is further employed to provide a satisfactory position trajectory tracking for the quadrotor. The performances of the controllers, in terms of disturbance rejection and trajectory tracking, are experimentally studied. Finally, a flight scenario is performed that compares the performance of the designed quantitative feedback theory-fuzzy control scheme with the ArduCopter controller.

• 出版日期2017-5-24