Robust State-Feedback $\mathbf{H}_{\infty}$ Control of Quadrotor

This paper presents an
$\mathbf{H}_{\infty}$
control design for quadrotors to enhance robustness against unmodeled disturbances. In optimal control, the algebraic Riccati equation (ARE) frequently arises in topics like Linear Quadratic Regulator (LQR) or
$\mathbf{H}_{\infty}$
control. The
$\mathbf{H}_{\infty}$
control minimizes the maximal gain between the disturbance input and the control output, which can be solved by acquiring the solution of ARE while finding the minimal
$\mathbf{H}_{\infty}$
norm of the corresponding transfer function. Thus, a simple bisection algorithm is also proposed for computing the stabilizing ARE solution of the
$\mathbf{H}_{\infty}$
control, which combines a state-of-the-art algorithm for the ARE called the structure-preserving doubling algorithm (SDA).