Attitude and position control of quadrotors: design, implementation and experimental evaluation

Abstract

The performance of a quadrotor can be significantly disturbed in presence of wind. In this paper, a simple-to-implement attitude controller is proposed to render a robust and accurate trajectory tracking in presence of disturbance and model uncertainties. The attitude controller design is based on Quantitative Feedback Theory (QFT). A fuzzy logic controller is further employed to provide 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 to compare the performances of the designed QFT-Fuzzy control scheme with the ArduCopter controller.