Abstract—Unmanned Aerial Vehicles (UAVs), specifically
quadrotors, is one of the major topics of study in current
literature with applications to numerous fields. In this paper we
consider a test-bed for the design of a low cost flight controller
for a quadrotor and as a first step in design we demonstrate the
design of the roll controller on an experimental setup through
the stages of data collection, modeling, control design and
verification. The procedure consists of four stages: 1)
Experimental determination of controller coefficients, 2) Data
collection, 3) System identification, 4) Controller redesign by
tuning coefficients with a numerical search. It is observed that
the system designed as such is capable of achieving the desired
roll stabilization, and coefficient tuning on the identified model
noticeably improves the settling time and steady state oscillation
amplitude.
Index Terms—Aerial vehicle control, discrete time, linear
estimation, quadrotor.
The authors are with the Department of Electrical and Electronics
Engineering, TOBB ETU Ankara 06560 Turkey (e-mail: aubatmaz@
etu.edu.tr, oelbir@ etu.edu.tr, kasnakoglu@ etu.edu.tr).
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Cite:Anil Ufuk Batmaz, Ovunc Elbir, and Cosku Kasnakoglu, "Design of a Quadrotor Roll Controller Using System Identification to Improve Empirical Results," International Journal of Materials, Mechanics and Manufacturing vol. 1, no. 4, pp. 347-349, 2013.
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