Attitude and Altitude Linear Parameter-Varying Control System for a Smartphone-based Quadcopter

Flight systems, such as quadcopters, have demonstrated their versatility in various autonomous flight applications and have been extremely useful as development platforms. Currently, research on multi-rotor systems, such as quadcopters, continues due to the new challenges that must be addressed. The purpose of this paper is to design an attitude and altitude Linear Parameter Varying (LPV) control strategy to handle the nonlinearities involved in quadcopter flight control. The control algorithms are implemented on a smartphone to evaluate processing times and the feasibility of using it as a flight controller in future applications.