Quadcopter attitude control with vibration reduction by additive-state-decomposition dynamic inversion design with a notch filter

Abstract

In practice, the unbalanced mass of the propeller is the leading cause of vibration in a quadcopter. First, a mechanical model of the unbalanced masses is established. Next, consider the vibration reduction problem for quadcopter attitude control. A notch filter is incorporated into to an additive-state-decomposition dynamic inversion controller to obtain a new controller. Stability analysis shows that the proposed control method guarantees that all attitude signals are globally uniformly ultimately bounded. In particular, the notch filter can effectively reduce the vibration having a specific frequency. Finally, the proposed controller is performed on a real quadcopter to verify its vibration reduction performance.