Aggressive maneuver oriented multi-rotor aircraft design, modeling and control

Abstract

Nonzero inertial state stabilization control based on multi-rotor is a perspective, practical and challenging research in control research. For an under-actuated, nonlinear and non-stable objective such as quadrotor, near zero state is an fundamental and urgent task. This paper introduces an quadrotor test-bed design and attitude stabilization control. The dynamics of the quadrotor is deduced based on Newton-Euler equation, whose parameters are computed by 3D drawing software. LQR control method is implemented on a linearized model with respect to zero state, the simulation indicates that the controller is able to withstand a certain non-zero inertial state with satisfying convergence speed. Adjusted parameters are implemented to the LQR controller in the real quadrotor test-bed. The dedicated experiment demonstrates that, this algorithm is qualified for small non-zero state stabilization.