GPI controller for quadrotor UAV stabilization

In this paper a Generalized Proportional Integral controller is synthesized in order to stabilize both attitude and position a four rotor mini helicopter. The main idea to use this kind of controller is to avoid the use of derivative terms and asymptotic observers in the design of the control law and consequently their respective numeric algorithms for the real-time implementation. So, these asymptotic observers and derivative terms are replaced by integral state reconstructor. The synthesized GPI control law is tested by numerical simulation considering a quadrotor dynamical model obtained by Euler-Lagrange formalism and obtained results are satisfactory and they suggest that the synthesized GPI control law can be tested in real-time flights.