Quadrotor Robust Optimal Attitude Tracking Control subjected to Model Uncertainties and External Disturbances

Quadcopter unmanned aerial vehicles continue to play important roles in several applications and the improvement of their control performance has been explored by a great number of studies. In this paper, we present a robust optimal H∞ attitude control algorithm for a quadcopter tracking either a step or a moving attitude reference. We model the system model uncertainties by using the linear fractional transformation approach and take it into account in combination with external disturbances during designing the controller. To demonstrate the effectiveness of the proposed method, numerical simulations were conducted and our controller performance is compared to a conventional PID controller.