Linear Quadratic Integral Differential Game applied to the Real-time Control of a Quadrotor Experimental setup

The accurate attitude control of a quadrotor is necessary, especially when facing disturbance. In this study, a linear quadratic with integral action based on the differential game theory is implemented on a quadrotor experimental setup. A continuous state-space model of the setup is derived using the linearization of nonlinear equations of motion, and its parameters are identified with the experimental results. Then, the attitude control commands of the quadrotor are derived based on two players; one finds the best attitude control command, and the other creates the disturbance by mini-maximizing a quadratic criterion, defined as the sum of outputs plus the weighted control effort and disturbance. The performance of the proposed structure is investigated in level flight and compared to the linear quadratic regulator controller. Results demonstrate that the proposed approach has an excellent performance in dissipating the disturbances.