Investigation in the Control of a Four-Rotor Aerial Robot

Juergen A. Kunzmann and Carlotta A. Berry


quadcopter, control architectures, LQR, PD Control


This paper presents the challenges and successes of developing several control architectures on a custom designed quadcopter. In order to achieve this goal, it was necessary to use parameter identification to create a model of the kinematic equations, simulate the model with several control architectures in MATLAB/Simulink and finally test the algorithm on the actual hardware. The results of the simulation indicate that it is possible to design a controller to allow the quadcopter to hover stably. However, in order to implement this architecture on the hardware and control the attitude, it is necessary to have more information about the sensor data, more accurate parameter identification of the model and more robust control architecture to handle uncertainty in the plant.

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