System Identification and State-Feedback Attitude Controller Design of Quadrotor

As the tasks of quadrotor unmanned aerial vehicles (UAVs) become increasingly complex, the performance of their controllers needs to be improved, and the dynamical models must be obtained with higher accuracy. In this paper, an accurate state-space dynamical model of the quadrotor is obtained with system identification method and model based effective attitude controller is designed. Firstly, the detailed procedures of identification are demonstrated. Subsequently, an identification flight test is conducted to acquire the accurate quadrotor model. Secondly, the model based proportional-integral-state feedback (PI-SF) control law is designed, where the state feedback is utilized to stabilize the system and improve response speed, while the PI controller is applied to enhance robustness. Finally, a simulation is performed to compare the performance of PI-SF and traditional series PID controller. The results indicate that PI-SF significantly improves rapidity and tracking performance.