Design and implementation of flight control for an autonomous quadrotor

Abstract

In this paper we describe the stages needed to achieve an autonomous stable platform with quadrotor architecture. Based on a commercial frame, we first design and integrate the instrumentation. An Inertial Measurement Unit (IMU), which also has a barometer, is added to the platform and accurately calibrated. The sensor fusion and signal filtering are done based on an Extended Kalman Filter (EKF). Finally, a proportional-integral controller based on an enhanced Linear Quadratic Regulator (LQR) algorithm is implemented in the control system, using the mathematical model of the quadrotor. The parameters of this model are obtained from the characterization of the unit, achieving at the end, a stable autonomous platform.