Disturbance rejection and attitude control of quadrotor with lqg

This thesis is about mathematical modelling, control design of a quadrotor and stating the differences between Gausissan white noise and Wind Shear turbulence. Quadrotor has four rotors and flies through the generated thrust and torques by these rotors. Altitude and attitude control of the quadrotor has always been a research subject. This thesis is focused on two main topics. Firstly, designing altitude and attitude controls of a quadrotor under Wind Shear turbulence and Gaussian white noise. Secondly, showing the different effects of the Gaussian white and Wind Shear on the quadrotor system. For mathematical model, Newton-Euler formalism is used. Linear control techniques such as, LQG and PID are used for altitude and attitude control. Kalman Filter is used for state estimation and noise filtering. Finally, the effects of wind turbulence and Gaussian white noise on the quadrotor system is examined and showed by simulations both separately and together. The results shows that, Wind Shear and Gaussian white noise had different effects on the quadrotor system and the proposed control approach successfully rejected these disturbances.