A numerical approach for attitude control of a quadrotor

Abstract : This paper deals with a numerical approach to control aggressive maneuvers of a multi-rotor aerial vehicle. The proposed controller uses an approximate tabulated one-step time discretization of the state-space model to find out the outputs of controller. It objective is to minimize the distance between the plant output and a linear well chosen closed loop system used as reference , leading the system to adopt its dynamical behavior. The prediction horizon is only one step time that ensures the execution time is completely bounded. The results from simulation for quadrotor show the performance and robustness of the proposed controller.