Robust Linear Controller Design for Tilt Quadrotor based on Euler Angles

In the existing literature, the designs of the robust linear controllers are done for the linearized model obtained about the quadrotor's hover flight. As a result, these controllers are not able to satisfactorily track a wide range of attitude changes. This work proposes a robust linear controller design for a tilt quadrotor that guarantees to track a wide range of attitude changes. This design is based on traditional two-loop control schemes where the outer loop controls the vehicle's attitude (orientation) based on Euler angles while the inner loop controls the angular velocity. The robust stability analysis of the proposed controllers has been examined against the model and actuator parameter uncertainties. Hardware results are presented to validate the proposed controller. Video of the experimental results can be found at https://youtube/fA7IcpnkfRk