control Balance quadrotor in sensitivesituations, high speeds in flight

In this paper, controller design for the attitude andaltitude dynamics of an outdoor quadrotor, which is constructedwith low cost actuators and drivers, is aimed. Before designingthe controller, the quadrotor is modeled mathematically inMatlab-Simulink environment. To control attitude dynamics,linear quadratic regulator (LQR) based controllers are designed,simulated and applied to the system. Two different proportionalintegral-derivative action (PID) controllers are designed tocontrol yaw and altitude dynamics. During the implementationof the designed controllers, different test setups are used.Designed controllers are implemented and tuned on the realsystem using xPC Target. Tests show that these basic controlstructures are successful to control the attitude and altitudedynamics

Keywords:

Helicopter balance , flight dynamics , autonomouslanding , control robotics