Wireless Longitudinal Motion Controller Design for Quadrotors

In the present paper, the problem of remotely controlling a quadrotor in longitudinal motion and under atmospheric disturbances is studied. The disturbances are considered not to be measurable. The controller - communication system is enriched with a synchronization / signal reconstruction algorithm imposing constant delays. The design goal is to independently control the horizontal and vertical velocity of the quadrotor while simultaneously attenuating the influence of the disturbances to these two velocities. To this end, a linear dynamic time delay controller will be designed. The satisfactory performance of the proposed control scheme is illustrated through computational experiments for the case of a climbing manoeuvre.