MMAE/LQR Yaw Control System of a Quadrotor for Constant Unknown Inertia

Abstract This paper presents a methodology for angular control of a quadrotor that transports a constant unknown load, given the estimates on both inertia and angular velocity, based on measurements from an indoor multi-camera motion capture system and a gyroscope. The proposed control method is an LQR controller and the proposed estimation method is a Multi-Model Adaptive Estimator (MMAE). The control system obtained is validated both in simulation and experimentally, resorting to an off-the-shelf commercially available quadrotor.