Parameter Identification and a Robust Controller Design for an Autonomous Quad-rotor Application

Abstract

This paper is about modeling, control system design and control algorithm development of quad-rotor type flight robot. We present a model to describe quad-rotor flight dynamics. The model relies on standard helicopter theories, although these have been severely modified to account for the particularities of the quad-rotor. It is based on a real quad-rotor helicopter we designed. Using real flight data from flight test by manual control, we identified unknown parameters. A feedback controller utilizing the optimal control scheme was designed based on the identified dynamic model. The simulation results demonstrated that the proposed control algorithm works well. An electronic hardware was developed to apply the controller to the real flight. The flight control system obtains sensor data and command signal from a user pilot and then adjusts the speed of each rotor applying control algorithms.