Comparison of Controllers for a UAV Type Quadrotor: Feedback Control by Bessel´s Polynomials and LQR with Kalman Filter

Abstract

This paper presents the development of two different control techniques as an approach having to remove steady-state error present in the response of attitude of a mini unmanned aerial vehicle of four rotor model. The Bessel approximation allows the selection of the eigenvalues in function to a specified response time for a feedback pole placement controller and state estimator. On the other hand presents an optimal control technique combined with Kalman filter to estimate the state affected by perturbations in the system, both cases using the integral effect to eliminate the steady state error.