Initial research on vibration reduction for quadcopter attitude control: An additive-state-decomposition-based dynamic inversion method

In practice, the lift that a propeller produces is composed of theoretical value and fluctuation, which results in vibration in aircraft. This paper will analyze the effect of the fluctuation on the quadcopter. In order to reduce the vibration caused by the fluctuation, an improved Additive-State-Decomposition-Based (ASDB) dynamic inversion stabilized controller is proposed. To show its effectiveness, the proposed controller is compared with the traditional ASDB dynamic inversion stabilized controller in numerical simulations. Simulation results show that a better damping performance for lift fluctuation is achieved with the improved ASDB dynamic inversion stabilized controller. Then the continuous-time controller is further discretized by Tustin transformation method with prewarping to be a digital controller in different sampling time, and the ideal sampling time is found out to trade off cost and performance of the digital controller.