Design and Simulation of a State Estimator for a Quadcopter with Safety Harness

This paper presents a state estimator for control system for the quadcopter with a safety harness to prevent crash physically. This control system is consisted of Admittance Filter and Integral Backstepping Control. We use Unscented Kalman Filter for the state estimator. The simulations have been carried out to validate the state estimator we designed on the virtual robot experimentation platform (V-REP). The simulation results showed that the quadcopter is stabilized by the proposed control system with the state estimator. It was also shown that this control system with the state estimator stabilizes the quadcopter even when unexpected impact force is applied.