Quantitative feedback control of a quadrotor

In this paper, the frequency domain models with parameter uncertainties for quadrotor were derived by analyzing the rigid body dynamics and aerodynamic forces/moments acting on the quadrotor. Based on these models, the controllers and pre-filters for automatic control of quadrotor were designed using quantitative feedback theory (QFT). QFT takes into account quantitative information of model uncertainty, robust performance requirements, tracing and disturbance rejection performance, thus is a suitable controller design method for quadrotor with model parameters affected by physical constants, payload and flight condition. The experimental results of hovering and trajectory tracking flights show that the proposed control system can effectively reject disturbances and perform accurate trajectory tracking flights.