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Duocopter LQI Control

1 min read

Duocopter LQI Control hero visual

Placeholder one-sentence summary of the duocopter LQI control system.

Settling time

1.2s

Tracking error

<2°

Disturbance rejection

40dB

Duocopter platform placeholder

Challenge

So I noticed the duocopter had strong cross-coupling between thrust differential and pitch, and identified that PID gains alone couldn't handle gust disturbances.

Solution

Implemented LQI with integral action on attitude error and state estimation from IMU fusion, validated in hardware-in-the-loop before flight tests.

Control block diagram placeholder
MATLABSimulinkC++PX4
Flight response plot placeholder