The performance of quadrotors can be significantly disturbed in the presence of wind. In this article, a simple-to-implement attitude controller is proposed to render a robust and accurate trajectory tracking in the presence of disturbance and model uncertainties. The attitude controller design is based on quantitative feedback theory. A fuzzy logic controller is further employed to provide a satisfactory position trajectory tracking for the quadrotor. The performances of the controllers, in terms of disturbance rejection and trajectory tracking, are experimentally studied. Finally, a flight scenario is performed that compares the performance of the designed quantitative feedback theory-fuzzy control scheme with the ArduCopter controller.
CITATION STYLE
Mardan, M., Esfandiari, M., & Sepehri, N. (2017). Attitude and position controller design and implementation for a quadrotor. International Journal of Advanced Robotic Systems, 14(3). https://doi.org/10.1177/1729881417709242
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