LQG-I control for attitude stabilization of V8 octorotor flying robot

Abstract

Small aerial vehicles have gained strategic importance in many urban applications such as aerial photography. V8 configuration is a multirotor design hardly investigated in the field of flying robots. Dynamical model of V8 octorotor is derived and linearized using small perturbations method. Validity of linearization is proved through comparison with nonlinear behavior. Linear quadratic Gaussian control approach together with an integral action is designed to stabilize octorotor attitude angles. Control performance is compared with PID and LQR methods which indicated proposed controller provides better results while maintaining efficient energy usage.