Comparisons of H∞ Loop Shaping Method and Fixed-structure H∞ Method for Attitude Controllers of a Quadrotor

Abstract

The H∞ loop shaping method and fixed-structure H∞ method are employed to design controllers of a quadrotor. The validity of these two controllers is verified by numerical simulations, and it is observed that both the methods can achieve the design requirements and have a well tracking performance and restraining noise performance. Compared to H∞ loop shaping controller, the fixed-structure H∞ controller has not only the general nature based on h-infinity theory, but also takes into account easy realization.