Robust Quadcopter Motion Control Using Output Feedback

TL;DR

This paper develops a robust output feedback control law for quadcopters using a geometric approach and extended observer method, enhancing stability and performance in motion control.

Contribution

It introduces a novel geometric transformation and observer-based control law for quadcopters, improving robustness and control accuracy.

Findings

The control law effectively stabilizes quadcopter motion.

The geometric approach simplifies the control design.

Robustness against disturbances is demonstrated.

Abstract

The study addresses the problem of quadcopter motion control using output feedback. By applying a geometric approach, the quadcopter model is transformed into a normal form with a time-varying gain coefficient, which is subsequently made stationary through double integration of the control input. A robust output feedback control law is synthesised based on the extended observer method.