Significant Methods to Improve Control of Quadrotors, Hexarotors and Octorotors

This article presents important methods and tips for quadrotors, octorotors, and hexarotors controllers to improve their performance. At first, a method is introduced to consider the outputs of the outer loop controller as forces then obtain the desired angles from these forces. Also, limiting the angles of multirotors is critical and essential to their stability and has never been discussed before. Therefore, A process of bounding these forces is presented to maintain the multirotor in its angle ranges and also makes the multirotor more stable by preventing it from reversing. Simulations are done for all these methods for different controllers. Their performances are analyzed mathematically and compared to common methods of limiting the angles. In addition, the implementation of the method is presented in a flowchart.