A Novel Parameter Varying Controller Synthesis Method for Quadrotor Control

This paper presents a method to design robust gain scheduled controller for parameter varying plants. The controller is to be used in an adaptive control architecture to obtain better performance than a robust controller for the control of multiple configuration of quadrotors. The proposed approach is based on the a priori selection of an interpolation formula. It takes advantage of recent advances in structured and multi-channel fixed-order Hinf synthesis to derive a low order controller with a meaningful structure. The resulting observer/state feedback controller remains easy to implement. The efficiency of the controller is demonstrated with its implementation on quadrotors UAV and the subsequent flight tests.

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