Attitude control of quadrotor helicopters with sensor offsets

We consider an attitude stabilization problem of a quadrotor helicopter with a sensor offset by using a dynamic state feedback controller. The sensor offset produces non-zero steady-state input and output, even if the quadrotor helicopter is stabilized. In previous research, it has been investigated that steady-state blocking zeros of the stabilizing controller play an important role. Such a controller is called a washout controller. In this paper, we apply the washout controller to the attitude stabilization for the quadrotor helicopter with the sensor offset. Then, we show that the washout controller eliminates the bias in the steady-state and stabilizes the quadrotor helicopter attitude.