Robust Attitude Control for a Variable-Pitch Quadrotor

This paper deals with the problem of robust control design for the attitude dynamics of a variable-pitch quadrotor. The proposed approach is based on structured H∞ synthesis applied to a black-box model of the quadrotor identified in dedicated bench-test experiments. An integrated procedure aimed at a fast and reliable deployment of the vehicle's attitude control system was developed, covering identification and optimization-based tuning for the parameters of the on-board controller structure, based on desired closed-loop performance requirements. The goal is to demonstrate that the obtained attitude controller, achieved without risky and time consuming in flight identification test campaign, guarantees satisfactory performance in flight, in near hovering conditions.