Trim point transitions via I/O decoupling controllers for 6DOF quadrotors

The problem of trim point transitions is investigated for 6DOF quadrotors, using I/O decoupling controllers. The linear approximant of the quadrotor is derived in parametric form with respect to the physical parameters of the nonlinear model and the trim points. Based upon the linear approximant, a static state feedback control law achieving I/O decoupling, command following and arbitrary pole assignment for the linear approximant of the closed loop system, is derived. The controller is expressed in terms of the physical parameters and the closed loop characteristic polynomial arbitrary coefficients. To increase the range of accurate transition among different trim points of the nonlinear model, appropriate cost criteria are used and a trim point transition algorithm is proposed. The performance of the overall scheme is demonstrated through simulation results.