Comparison of Hinf Robust with mixed sensitivity and LQRy Robust with uncertainty in a quadcopter vehicle

In this article, a comparative study is presented between two controllers intended for the stabilization of a quadcopter. The two controllers under analysis are the Hinf Robust controller with mixed sensitivity and the LQRy Robust controller. Both controllers have been designed taking into account uncertainties of 10\% in the mass and inertias of the quadcopter plant. The primary objective of this research is to discern which of the two control techniques offers optimal performance in the stabilization of the quadcopter to ensure maximum flight stability. To address the challenge of stabilizing the quadcopter, both controllers are designed using the linearized model of this quadcopter. Therefore, given that the quadcopter has a MIMO (Multiple Inputs, Multiple Outputs) configuration and that its study becomes complicated by incorporating uncertainties diagonal in MIMO systems, a simplification was made to SISO (Single Input, Single Output), which facilitates the incorporation of diagonal uncertainties in the quadcopter model. The simulations have been conducted in the MATLAB environment, enabling an analysis of the responses of both controllers. The results obtained indicate that the LQRy controller exhibits superior performance compared to the Hinf controller in stabilizing the quadcopter. These findings suggest that the LQRy approach may be more effective in achieving stable flight under ideal simulation conditions.