Attitude and position controller design and implementation for a quadrotor

• Main Authors: Maziar Mardan, Masoumeh Esfandiari, Nariman Sepehri
• Format: Article
• Language: English
• Published: SAGE Publishing 2017-05-01
• Series: International Journal of Advanced Robotic Systems
• Online Access: https://doi.org/10.1177/1729881417709242

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.