Quadrotor Flight Controller Design Using Classical Tools

  • Tomasz ZubowiczEmail author
  • Krzysztof Arminski
  • Arkadiusz Kusalewicz


A principal aspect of quadrocopter in-flight operation is to maintain the required attitude of the craft’s frame, which is done either automatically in the so-called supervised flight mode or manually during man-operated flight mode. This paper deals with the problem of flight controller (logical) structure and algorithm design dedicated for the man-operated flight mode. The role of the controller is to stabilise the rotational speeds of the Tait-Bryan angles. This work aims to extend the sustainable performance operating range of a proportional-integral-derivative output feedback compensator (PID) based flight controller by exploiting the concepts of feedforward inverse actuator model and the re-definition of input space in order to handle the non-linearity of the system under control. The proposed solution is verified numerically and implemented in the form of a discrete-time domain algorithm, obtained by emulation, using a physical quadrocopter model.


Attitude control drone inverse model PID 


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Copyright information

© ICROS, KIEE and Springer 2019

Authors and Affiliations

  • Tomasz Zubowicz
    • 1
    Email author
  • Krzysztof Arminski
    • 2
  • Arkadiusz Kusalewicz
    • 2
  1. 1.Department of Electrical Engineering, Control Systems and InformaticsFaculty of Electrical and Control Engineering Gdańsk University of TechnologyGdańskPoland
  2. 2.Department Control Engineering, Faculty of Electrical and Control EngineeringGdańsk University of TechnologyGdańskPoland

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