Full linear control of a quadrotor UAV, LQ vs H∞

Abstract

Quadrotors low level control has attracted the attention of many research works over the last decade. In most of previous works, position stabilisation was achieved using nonlinear control techniques. In this paper, two full linear techniques based on optimal control theory are presented. The first, based on the L2 norm, is a Linear Quadratique Servo (LQ-Servo) controller. The second one, optimizes the L∞ norm and is designed using H∞ control approach. Emphasis is placed on the robustness to external disturbances and particularly wind gusts. Simulation results based on the full nonlinear model of the quadrotor are presented as a basis of comparison between the two controllers.