A Multi-Agent Approach to Landing Speed Control with Angular Rate Stabilization for Multirotors

To properly design the motion controller for multirotor, it is essential to address the propeller dynamics and their physical interaction. However, the complexity of system design increases together with the number of propellers. Considering this issue, this paper investigates the landing speed control system of the quadrotor as a case of study. The system consists of a vertical speed controller, and three roll-rate, pitchrate, and yaw-rate controllers. We show that the system can be effectively modelled based on the concept of generalized frequency variable. This model allows the system stability to be analyzed via a simple inequality test or a graphical test, thereby, alleviating the design burden. The effectiveness of the proposed approach is demonstrated using a real quadrotor model.