Model linearization and H∞, controller design for a quadrotor unmanned air vehicle: Simulation study

摘要

This paper describes the architecture of a quadrotor and its linearized dynamic model. The attitude of the quadrotor in the model state-space variables can be calculated with rotational matrix formed from quaternions instead of finite small angular displacement approximation. Based on H continuous time control method, a state feedback controller is designed to control the translational position and heading of the quadrotor.