Attitude and position controller design and implementation for a quadrotor. (22nd May 2017)

• Record Type: Journal Article
• Authors: Mardan, Maziar; Esfandiari, Masoumeh; Sepehri, Nariman
• Is Part Of: International journal of advanced robotic systems. Volume 14:Number 3(2017:May/Jun.)
• Publication Date: 2017-05-22
• Subjects: Quadrotor -- quantitative feedback control -- fuzzy logic control -- flight control -- disturbance rejection; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881417709242
• Languages: English
• ISSNs: 1729-8806

Abstract

The performance of quadrotors can be significantly disturbed in the presence of wind. In this article, a simple-to-implement attitude controller is proposed to render a robust and accurate trajectory tracking in the presence of disturbance and model uncertainties. The attitude controller design is based on quantitative feedback theory. A fuzzy logic controller is further employed to provide a satisfactory position trajectory tracking for the quadrotor. The performances of the controllers, in terms of disturbance rejection and trajectory tracking, are experimentally studied. Finally, a flight scenario is performed that compares the performance of the designed quantitative feedback theory-fuzzy control scheme with the ArduCopter controller.