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Attitude control of multirotor UAVs: cascade P/PID vs PI-like geometric architecture

This paper addresses the attitude control problem for multirotor Unmanned Aerial Vehicles with the aim of comparing two nonlinear control architectures. The first controller is based on a nonlinear cascade design with a P/PIDlike structure while the second one is a PI-like nonlinear controller that has been proposed to tackle the attitude tracking problem for rigid bodies. First, a general model for the attitude dynamics of multirotor UAVs is recalled. Then, the considered controllers are reviewed on both theoretical and practical aspects, focusing on their stabilizing properties, implementation and tuning issues. Finally, the control laws are systematically tuned by applying structured H∞ synthesis to the linearized closed-loop dynamics obtained by referring to an identified single axis model of a lightweight quadrotor.