A signal-based H-infinity gain-scheduled cascaded attitude controller with feedforward filter is synthesized for an INDI-controlled quadrotor and shown to maintain acceptable tracking in nonlinear simulations and flight tests even when identified parameters fall outside the modeled uncertainty set,
Automatic weighting filter tuning for robust flight control law design
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Robust $\mathcal{H}_\infty$ Controller Design For INDI-Controlled Quadrotor Using Online Parameter Identification
A signal-based H-infinity gain-scheduled cascaded attitude controller with feedforward filter is synthesized for an INDI-controlled quadrotor and shown to maintain acceptable tracking in nonlinear simulations and flight tests even when identified parameters fall outside the modeled uncertainty set,