Software implementation and test of an advanced robust control applied to a quad-copter

The interest for Unmanned Areal Vehicles (UAVs) started to grow in the last two decades. The need for these kind of systems is higher than ever, due to their larger field of applications. Quad-copters are classified as UAVs systems. They have a high maneuverability and can be used for any kind of remote applications. Designing a control strategy for them is a very difficult challenge, being a highly nonlinear, complex system. The control must be robust, in order to keep the system stable at any kind of external disturbance. Classical controllers such as PID are the most common solutions used in the field of control engineering, but applied on a quad-copter they do not guarantee that the system will continue to keep its performances in any particular situation. In order to ensure the robustness, a fractional order PIλDµ controller is introduced, a generalization of a classical PID controller, having two more degrees of freedom. This paper presents a comparison between these two controllers and how they act applied on a special designed quad-copter. The software architecture of the control program implemented on the micro-controller is also described.

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