Vehicle Parameter Independent Gain Matrix Selection for a Quadrotor using State-Space Controller Design Methods

TL;DR

This paper presents a linear state-space control design for quadrotors that uses a gain matrix independent of specific vehicle parameters, enabling broad applicability and robust performance in simulation.

Contribution

The novel contribution is a parameter-independent gain matrix design for quadrotor control, applicable across different models without modification.

Findings

Controllers perform well under disturbances in simulation

Gain matrix is effective across various quadrotor configurations

Stable hover and tracking achieved with disturbance robustness

Abstract

With quadrotor use seeing extensive growth in recent years, the autonomous control of these Unmanned Aerial Vehicles (UAVs) is an increasing relevant and intersting field. In this paper a linear state-space approach at designing a stable hover controller in the presence of disturbances is presented along with simulation of control system performance. Additionally the design of a tracking system, for linear inertial position and yaw, is presented with simulation results. The gain matrix developed for this control system is independent of the specific quadrotor parameters, meaning that this same gain matrix can be used on a wide variety of quadrotors without modification. The hover and tracking controllers designed in this paper proved to perform well in simulation under perturbation disturbances and normally distributed disturbances on the UAVs linear speeds and angular speeds.