A H∞ Loop Shaping Control for a Quadcopter with Tilting Rotor

Conventional quadcopter have only four actuators and cannot achieve full control of the 6DOFs translational motion and rotational motion. Quad Tilting rotor drone, that is, the motor can rotate along its arm axis, with 4 additional actuators, can track arbitrary trajectory in space, e.g. Non-zero inclination hovering or zero inclination displacement. It greatly broadens the application of quadcopter. In this paper, we first derive the nonlinear dynamic model based on Newtonian-Euler equations. With a new control allocation scheme, it is possible to uniquely determine the amount of actuator action without optimization. Then, a H$\infty$ loop shaping controller is constructed to achieve accurate tracking of the trajectory, and it has strong anti-interference ability. At last, some numerical simulations were implemented to verify the validity and feasibility of the proposed control method. Compared with PID controller, the proposed controller performs well under the conditions of model inaccuracy and sensor noise.