Dynamic state-derivative feedback control for quadrotor helicopters

We consider an attitude stabilization of a quadrotor helicopter with a sensor offset by a state-derivative feedback controller. The sensor offset produces non-zero steady-state input and output, even if the quadrotor helicopter is stabilized. In previous research, it has been investigated that steady-state blocking zeros of the stabilizing controller play an important role. In this paper, we develop a design method for a dynamic state-derivative feedback controller. Then, we show that the proposed state-derivative controller eliminates the bias in the steady-state and stabilizes the quadrotor helicopter attitude.