Robustness margin for attitude control of a four rotor mini-rotorcraft: Case of study

In this paper we present new results to compute the robustness margin of an attitude control algorithm for a quad-rotor mini-rotorcraft known as X4-flyer. The maximum parametric uncertainty is calculated when multivariable PD controller is used to stabilize the attitude of the aerial vehicle. This work is based on the value set characterization approach of the mathematical model for the closed-loop control system, which is represented by an interval plant with time delay. The zero exclusion principle is used to compute the robustness margin of the closed-loop system. This approach transforms the original robust stability problem into simple problem of graphic inspection, where we only needed to verify if a graph on the complex plane does not contain the origin of the plane. Additionally, different experiments were made in order to validate theoretical results; these experimental results will be presented at the end of this work.