Constrained optimal attitude control of a quadrotor helicopter subject to wind-gusts: Experimental studies

A Constrained Finite Time Optimal Controller (CFTOC) for attitude set-point maneuvers of an Unmanned Quadrotor Helicopter (UqH) operating under severe wind conditions is the subject of this article. The UqH´s nonlinear dynamics is linearized in various operating points resulting in a set of piecewise models. The CFTOC is designed for set-point maneuvers taking into account the switching between the linear models and the constraints of the actuators. The control scheme is applied in experimental studies in a prototype UqH operating in harsh weather conditions resulting from wind gusts. The UqH rejects the induced wind-disturbances while performing attitude set-point maneuvers.