Brossard, Jérémy (ÉTS), Bensoussan, David (ETS University of Quebec), Landry, René Jr. (Superior Technology School), HAMMAMI, MAHER (FACULTE DES SCIENCES DE SFAX - TUNISIE)

Robustness Studies on Quadrotor Control

Scheduled for presentation during the Regular Session "Control Architectures II" (WeB4), Wednesday, June 12, 2019, 15:20−15:40, Savannah

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on April 20, 2024

Abstract

A new control method (B control) that guarantees fast and robust control for unstable invertible plants has been recently proposed and tested. This method enables getting a time response with minimal overshoot and settling time equal to rise time while keeping good stability margins. Demonstration of this control method has been published. In the present work, we apply this control method to a non-linear model of a quadcopter. The fastest orientation dynamic of the drone is controlled separately from the translation dynamic which is slower. The performance of this B controller is compared to a µ-synthesis and PID controller. Matlab simulations show slightly better performances for B control compared to µ-synthesis in the time domain. However, µ-synthesis gives better results for steady flight in the presence of perturbations when compared to B controller, although it involves higher motor velocities. PID performance in the time domain is less than satisfactory as it evolves excessive gains.