Rodriguez-Cortes, Hugo (CINVESTAV-IPN), Tlatelpa-Osorio, Yarai E. (CINVESTAV-IPN), Ramirez-Rodriguez, Jose Miguel (CINVESTAV-IPN)

Low Level Controller for Quadrotors

Scheduled for presentation during the Regular Session "Control Design V" (FrB2), Friday, June 18, 2021, 11:40−12:00, Kozani

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

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.