Duocopter LQI Control

1 min read

Placeholder

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

Settling time

1.2s

Tracking error

<2°

Disturbance rejection

40dB

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.

Placeholder

MATLABSimulinkC++PX4

Result visual