Design and Analysis of a Linear Controller for Parrot AR Drone 2.0

Abstract

This paper aims to present the design and analysis of a Parrot AR Drone 2.0 linear controller. We investigate the system’s properties through its state-space representation. We then describe the construction of a state-feedback controller and observer based on the pole-placement method in order to stabilize and yield better control of the system. After that, we construct a Linear Quadratic Regulator (LQR) for trajectory tracking and improving the system’s performance. Finally, Simulink is used to observe the system’s performance when wind disturbance is introduced.