The Design and Implementation of 4 DOF Control of the Quadrotor

This paper deals with the design and implementation of a quadrotor aerial robot. At first, simplified quadrotor model was created. The model describes quadrotor as a MIMO (Multiple Inputs Multiple Outputs) system, which is further divided into four independent SISO (Single Inputs Single Outputs) systems. These systems correspond to rotational movements in all robot axes and one translation movement, which represents flight altitude. Special attention was paid to the identification of actuators. On the basis of the model 4 DOF (Degree of Freedom) stabilization was designed. The stabilization consists of four independent controllers, all of them use auxiliary controlled variable. Inner loops, that control velocities, are controlled by fast P controllers and outer loops use PI controllers due to suppression of disturbances. Designed stabilization was tested by simulation and on a real flying model as well. The paper also describes hardware and software solution.