Optimized Discrete Control Law for Quadrotor Stabilization: Experimental Results

Abstract

This paper deals with the real-time stabilization of a Quadrotor mini helicopter applying a discrete optimal control. A discrete control strategy is better adapted to be executed in a micro-controller, therefore better results are expected with respect to continuous case. Furthermore, the optimal control law allows to helicopter to save energy and then increase its time of flight. The discrete optimal control law is synthesized considering an infinite horizon together with an exact linearization of the nonlinear dynamics of flying vehicle. At the end of this procedure the optimal control law obtained through an exact linearization is simple and easier to tune compared to the optimal strategy where the exact linearization is not performed. Taking into account the obtained experimental results, the proposed control technique produces an appropriate stabilization of the mini UAV.