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

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