Low level controller for quadrotors

摘要

The current trend for quadcopter's control design aims to ensure the asymptotic/exponential stability of the position errors. This approach, attractive from the control theory point of view, has little impact on real quadrotor applications. Quadrotor applications include a human pilot or a set of positioning sensors with very low bandwidth; then, they rely on a robust low-level controller. In real quadrotor applications, the low-level controller commands, at least, the quadrotor angles around its longitudinal and vertical axis, the angular velocity around the vertical axis, and the vertical speed. This paper proposes a low-level controller using robust control techniques to track the input commands from a pilot or a high-level controller that uses positioning systems with low sampling time.