Design and simulation of robust filter for tracking control of quadcopter system

In this paper, a robust attitude and position controller is proposed for trajectory tracking of quadrotors. A robust filter is added to restrain the effect of parameter variations and external disturbances in the rotational and translational dynamics. A specific design criterion is used in the design of robust filter. To study the robustness properties of the filter a nominal PD controller is designed as the nominal position and attitude controller. Simulation of the proposed controller was carried out in Simulink Matlab and performance of the closed loop system was analyzed with and without the compensator. It was found that by the proposed robust control method, the effect of uncertainties can be reduced to certain extent by selecting proper robust filter parameters. It also provides more frequency range of operation.