文件名称：Modeling, Identification and Control of a Quadrotor Aircraft
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更新时间：2021-09-19 13:01:43
Modeling Identificati Control
The present work refers to the mathematical modeling, experimental identification and control design of a small unmanned indoors quadrotor aircraft, at low translational speeds around the hovering condition, where the aerodynamic forces on the airframe are disregarded. A Kalman filter is implemented for state estimation and noise filtering. Linear control techniques such as PID, LQ as well as modern robust mixed-sensitivity H1 and µ-synthesis with DK-iteration are employed and compared with each other in terms of flight trajectory reference tracking and parametric and model uncertainty