Ahmad Ataka

ABSTRACT In this article we developed a sparse controller for Quadrotor. The controller is designed by applying pole placement method to the linearized Quadrotor model. We also introduced the use of post-filter and pre-filter to transform the state coordinate to decrease coupling between states. The proposed controller is implemented using simulink blocks. The controller is simulated to shows the ability of the controller to achieve desired altitude and ability to correct disturbance.

ABSTRACT This paper presents the gain scheduling based linearization of simplified quadrotor non-linear model as well as the test for the system controllability and observability for various equilibrium point. The simplified non-linear model of quadrotor is linearized at some equilibrium points to get the linear state equation. Then, the controllability and observability test is done to the linearized model for various equilibrium points. The system behavior is then tested by using the state feedback controller to confirm the result.