Robust Control of a Quadrotor



In this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. The designed controller includes two parts: a position controller and an attitude controller. The attitude controller is designed by using the sliding mode control (SMC) method to track the desired pitch and roll angles, which are the output of position controller. The position controller is also a design using SMC and the attitude controller is faster than position controller.


[1] [P. Castillo, R. Lozano, and A. E. Dzul, (2005). Modelling and control of mini-flying machines. London, UK: Springer-Verlag.
[2] [I. Fantoni, and R. Lozano, (2002). Non-linear control for underactuated mechanical systems. London: Springer-Verlag.
[3] V. Mistler, A. Benallegue, and N.K. M'Sirdi, (2001). “Exact linearization and noninteracting control of a 4 rotors helicopter via dynamic feedback,” In Proc. IEEE int. workshop on robot and human inter. Communic.
[4] S. Bouabdallah, P. Murrieri, and R. Siegwart, (2004). “Design and control of an indoor micro quadrotor,” In Proc. IEEE Int. conf. on rob. and automat., Vol. 5, New Orleans, USA, pp. 4393_4398.
[5] P. Castillo, A. Dzul, R. Lozano, (2004). “Real-time stabilization and tracking of a four-rotor mini rotorcraft,” IEEE Trans. Control Syst. Tech. 12(4), 510–516.
[6] Z. Zuo, (2010). “Trajectory tracking control design with command-filtered compensation for a quadrotor,” IET Control Theory Applic. 4(11), 2343–2355.
[7] A. Tayebi, S. McGilvray, (2006). “Attitude stabilization of a VTOL quadrotor aircraft,” IEEE Trans. Control Syst. Tech. 14(3), 562–571.
[8] G.V. Raffo, M.G. Ortega, and F.R. Rubio, (2010). “An integral predictive/nonlinear H∞ control structure for a quadrotor helicopter,” Automatica 46(1), 29–39.
[9] A. Das, K. Subbarao, and F. Lewis, (2009). “Dynamic inversion with zero-dynamics stabilization for quadrotor control,” IET Control Theory Applic. 3(3), 303–314.
[10] S. Bertrand, N. Guenard, T. Hamel, H. Piet-Lahanier, and L. Eck, (2011). “A hierarchical controller for miniature VTOL UAVs: design and stability analysis using singular perturbation theory,” Control Eng. Pract. 19(10), 1099–1108.
[11] G.M. Hoffmann, H. Huang, S.L. Waslander, and C.J. Tomlin, (2011). “Precision flight control for a multi-vehicle quadrotor helicopter testbed,” Control Eng. Pract. 19(9), 1023–1036.
[12] J.C.A. Vilchis, B. Brogliato, A. Dzul, R. Lozano, (2003). “Nonlinear modelling and control of helicopters,” Automatica 45(10), 1583–1596.
[13] K. Peng, G. Cai, B.M. Chen, M. Dong, K.Y. Lum, and T.H. Lee, (2009). “Design and implementation of an autonomous flight control law for a UAV helicopter,” Automatica 39(9), 2333–2338.
[14] Moradi, Mohammad Mehdi. "The reduction coefficient of PID controller by using PSO algorithm method for Flexible single-arm robot system." Journal of Artificial Intelligence in Electrical Engineering 3.12 (2015): 44-54.