Quadcopter attitude control with vibration reduction by additive-state-decomposition dynamic inversion design with a notch filter

In practice, the unbalanced mass of the propeller is the leading cause of vibration in a quadcopter. Therefore, this paper proposes an additive-state-decomposition notch dynamic inversion controller to suppress the vibration noise. Firstly, the vibration mechanics model based on unbalanced mass is established and its characteristic frequency is analyzed. Then, the specific form of the notch filter is designed, and this characteristic frequency is taken as its internal parameter. Next, stability analysis shows that the proposed controller guarantees that all attitude signals are globally uniformly ultimately bounded. In particular, the notch filter can effectively reduce the vibration having a specific frequency. Finally, the proposed controller is performed on a real quadcopter to verify its vibration reduction performance.