An Investigation on Quadcopter Controller Designs with focus on practical implementation issues
Abstract
Aerial robots specifically quadrotors or quadcopters have recently seen a boom in research interest due to the far reaching potential applications being envisaged in almost every domain. This paper investigates the dynamics of the quadcopter and the challenges posed in its control. A review of the controller design strategies is presented with a brief discussion on the requirement of adaptive techniques for practical scenarios. An example of a non-linear geometric controller is also presented; with the simulation results for agile maneuvers discussed in detail. Moreover, the requirements for robust state estimation and simultaneous localization and mapping are discussed with emphasis on multi sensor fusion for practical scenarios. Lastly with the recent focus now shifting towards multi-agent collaborative control strategies some recommendations have been included for future research.
KEYWORDSQuadcopter control, non-linear system, geometric controller, back-stepping control
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